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首页> 外文期刊>JSME International Journal. Series C, Mechanical Systems, Machine Elements and Manufacturing >Tracking and Almost Disturbance Decoupling for Nonlinear Systems with Uncertainties
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Tracking and Almost Disturbance Decoupling for Nonlinear Systems with Uncertainties

机译：不确定非线性系统的跟踪和几乎扰动解耦

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This paper studies the output tracking and almost disturbance decoupling problem of nonlinear control systems with uncertainties. The main contribution of this study is to construct a controller, under appropriate conditions, such that the resulting closed-loop system is valid for any initial condition and bounded tracking signal with the following characteristics: input-to-state stability with respect to disturbance inputs and almost disturbance decoupling, i.e., the influence of disturbances on the L{sub}2 norm of the output tracking error can be arbitrarily attenuated by changing some adjustable parameters. The fundamental theoretical approaches are the differential geometry approach and the composite Lyapunov approach. Two examples, which cannot be solved by the first paper on the almost disturbance decoupling problem, are proposed in this paper to exploit the fact that the tracking and the almost disturbance decoupling performances are easily achieved by the proposed approach. In order to demonstrate the practical applicability, the paper has investigated a pendulum control system that cannot be solved by some existent approaches.
机译：研究具有不确定性的非线性控制系统的输出跟踪和几乎扰动解耦问题。这项研究的主要贡献是在适当的条件下构造了一个控制器，以使所得的闭环系统对任何初始条件和具有以下特征的有界跟踪信号均有效：干扰输入的输入到状态稳定性通过改变一些可调整的参数，可以任意地衰减几乎干扰的去耦，即干扰对输出跟踪误差的L {sub} 2范数的影响。基本的理论方法是微分几何方法和复合Lyapunov方法。本文提出了两个例子，这是第一篇关于几乎扰动去耦问题无法解决的例子，以利用该方法容易实现跟踪和几乎扰动解耦性能这一事实。为了证明其实用性，本文研究了一种摆锤控制系统，该系统无法通过某些现有方法来解决。

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