【摘要】 针对一类具有未建模动态和有界时变干扰的单输入单输出非线性系统,提出鲁棒干扰几乎解耦的新定义。在此基础上,采用辅助动态信号来抑制未建模动态,运用自适应非线性阻尼来克服未知参数和非线性不确定性,通过坐标变换及构造Lyapunov函数,获得控制规律,使被控系统在未建模动态及有界干扰下,仍能实现跟踪。并且,只要适当选择控制参数,跟踪误差将会任意地小。仿真算例表明,提出的鲁棒干扰几乎解耦的定义和控制规律非常有效。更多还原

【Abstract】 A novel definition of robust almost disturbance decoupling is introduced for the tracking control problem of a class of singleinput/singleoutput nonlinear systems with unmodeled dynamics and bounded timevarying disturbances. Based on the definition, a dynamic signal is used to dominate the unmodeled dynamics, and adaptive nonlinear damping terms are presented to counteract the effects of the unknown parameters and nonlinear uncertainties. The control law is obtained by the transformation of coordinates and the construction of Lyapunov function. It is shown that under certain assumptions, the proposed control law guarantees the realization of the nonlinear tracking in the presence of unmodeled dynamics and bounded timevarying disturbances. Furthermore, the tracking error can be made arbitrarily small by choosing the design constants appropriately. A simulation example demonstrates that the proposed definition and control law are very effective.更多还原