不满足匹配假设的不确定非线性系统的鲁棒控制

该文研究一类不确定非线性系统的鲁棒镇定问题，其中不确定性不需要满足传统的匹配条件。对系统中不确定项所要求的信息仅为不确定项是有界的，其界为系统状态的已知函数。首先应用输入／输出反馈线性化法，将非线性系统变换为部分线性可控系统。接着基于李雅普诺夫直接法，提出了一种连续型鲁棒镇定控制器设计方案。利用该方案设计的鲁棒控制器可确保相应闭环系统的状态一致最终有界。所提出的鲁棒控制器计算简单，更易实现。仿真结果证明，所提方法是可行的、有效的。

Robust Control of Nonlinear System in the Absence of Matching Assumptions

The robust stabilization of a class of uncertain nonlinear system is investigated in this paper. Here, the uncertainty does not need to satisfy the conventional matching condition. The required uncertainty information in the system is merely that the uncertainties are bounded in Euclidean norm by a known function of the system state. Applied input/output feedback linearization approach, the nonlinear system is transformed into partial linear and controllable system first. Then,based on Lyapunov direct method, a design method of continuous robust stabilization controller is proposed. The designed controller guarantees that the state of the obtained closed loop system is uniformly ultimately bounded. Moreover, the given controller is easy to compute and complement. Simulation shows that the method presented is available and effective.