【摘要】 研究具有外界持续扰动的非线性系统的无静差最优跟踪控制问题。首先基于内模原理构造一扰动补偿器,将系统化为无扰动的增广系统。然后利用灵敏度法推导出了该系统的最优跟踪控制律。仿真实例表明了该设计方法的有效性。更多还原

【Abstract】 The optimal control with zero steady-state error was considered for nonlinear systems affected by external persistent disturbances. Based on the internal principle, a disturbance compensator was constructed. The system model with external disturbances was transformed into an augmented system without external disturbances. Then, the optimal tracking control law of this system was deduced through the sensitivity approach. A simulation example demonstrates the validity of the designed approach.更多还原