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首页> 外文期刊>IEEE Transactions on Automatic Control >Robust control design for nonlinear uncertain systems with anunknown time-varying control direction
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Robust control design for nonlinear uncertain systems with anunknown time-varying control direction

机译：控制方向未知的非线性不确定系统的鲁棒控制设计

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摘要

A continuous robust control design approach is proposed for first-order nonlinear systems whose dynamics contain both nonlinear uncertainty and an unknown time-varying control direction. The so-called control direction is the multiplier of the control term in the dynamic equation, and it effectively represents the direction of motion under any given control. A nonlinear robust control is designed to online and continuously identify sign changes of the unknown control direction and to guarantee stability of uniform ultimate boundedness. The proposed robust control design requires only three conditions: the nominal system is stable, the control direction is smooth, and the uncertainty in the system is bounded by a known function. The necessity of these conditions is established in this paper. Continuity of the proposed robust control is achieved by using a so-called shifting law that changes smoothly the sign of robust control and tracks the change of the unknown control direction. Analysis and design is shown by using Lyapunov's direct method
机译：提出了一种针对一阶非线性系统的连续鲁棒控制设计方法，该系统的动力学同时包含非线性不确定性和未知的时变控制方向。所谓的控制方向是动态方程式中控制项的乘数，它有效地表示任何给定控制下的运动方向。非线性鲁棒控制旨在在线连续地识别未知控制方向的符号变化，并确保一致的最终有界性的稳定性。所提出的鲁棒控制设计仅需要三个条件：标称系统稳定，控制方向平稳以及系统中的不确定性受已知函数限制。本文确定了这些条件的必要性。所提出的鲁棒控制的连续性是通过使用所谓的移位定律来实现的，该定律平稳地改变了鲁棒控制的符号并跟踪未知控制方向的变化。使用Lyapunov的直接方法进行分析和设计

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