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研究了一类具有非最小相位和非线性外部系统的非线性系统的全局鲁棒输出调节问题.首先,利用浸入系统设计了一个非线性内模.其次,把原系统的全局鲁棒输出调节问题转化为增广系统的全局鲁棒镇定问题.然后,利用改变能量函数和动态增益技巧设计了一个状态反馈控制器,使得闭环系统的解有界并且跟踪误差渐近趋于零.最后,利用仿真结果验证了所设计的控制器的有效性.
The global robust output adjustment problem for a class of nonlinear systems with non-minimum phase and non-linear external systems is studied. First, a non-linear internal model is designed by using the immersion system.Secondly, the global robust output adjustment problem And then transform it into a globally robust stabilization problem for augmented systems.Then, a state feedback controller is designed by changing the energy function and dynamic gain technique, which makes the closed-loop system have bounded solutions and the tracking error approaches to 0. Finally, The results verify the effectiveness of the designed controller.