时变不确定非线性系统的鲁棒输出跟踪

该文研究了一为具有时变参数或扰动的非线性系统的鲁棒轨迹跟踪控制问题，假定系统的标称模型是可以反馈线性化的，通过递推构造壮环系统地的Ｌｙａｐｕｎｏｖ函数，给出了该类不确定系统鲁棒输出跟踪控制器设计方案。该控制器能保证闭环系统的状态是一致有界的，且通过对控制器参数的适当选择，可使闭环系统的输出跟踪达到指定的精度要求，最后由一机器人控制系统的仿真研究表明，该文提出了控制方案具有很强的鲁棒性，控制效果是令

Robust Output Tracking for Nonlinear Systems with Time varying Uncertainties

This paper deals with the robust tracking control for nonlinear systems with unknown unmodelled time varying parameters or disturbances. A design method for a robust tracking controller based on the nominal system is proposed with the recursive construction of a closed loop Lyapunov function.It is shown that all signals within the closed loop system are bounded, and adjustable parameters can be turned to satisfy a particular specification. Finally, the effectiveness and robustness of the proposed control scheme are demonstrated by the tracking control for robot control systems, the simulaton results are satisfactory.