一类不匹配不确定非线性系统的鲁棒控制

研究一类包含不匹配不确定性非线性系统的鲁棒镇定问题，应用李亚普诺夫直接法，提出了一种基于不确定项上界的连续型鲁棒控制器设计方法，该控制器分为两部分，分别地匹配不确定项和不匹配不确定项进行补偿，由于在控制器中引入了两类时变函数，因而与以前的一些仅能保证系统一致最终有界的控制器相比，本文提出的控制器可确保相应闭环系统大范围渐近稳定，此外，用来补偿匹配不确定项的控制器，其每一分量仅与相应通道的不确定项有关，因而要求的控制能量小，所提控制器计算简单，更易实现，仿真结果证明了所提方法的可行性与有效性。

Robust Control for A Class of Nonlinear Systems with Mismatched Uncertainties

The robust stabilization problem of a class of uncertain nonlinear systems with mismatched uncertainties is investigated in this paper.Applying Lyapunov direct method,a design method of continuous robust controller is proposed based on the upper bounds of the uncertainties.The developed control law contains two parts which compensate matched uncertainties and mismatched uncertainties respectively.Because of the introducing of two classes of time varying functions into robust controller,the given controller guarantees the asymptotic stability in the large scope for the obtained closed loop system.Furthermore,each element in the controller that compensates matched uncertainties depends only on the uncertainties in the corresponding channel,and therefore requires less control energy.The given controller is easy to compute and complement.The simulation result shows that the method presented is available and effective.