输入非仿射不确定性混沌系统的输出跟踪控制

针对一类输入非仿射不确定性混沌系统，采用反演设计了一种新的控制器. 该方法结合非线性跟踪微分器以及扩展状态观测器，非线性跟踪微分器用于逼近虚拟控制量的导数或者参考信号的导数；扩展状态观测器用于估计系统中的未知项及扰动项，并且证明了其收敛性能. 该方法的运算时间远远小于现有设计方法，并且跟踪误差是渐近一致稳定的；该方法保证了此类系统的输出能跟踪任意可微的参考信号. 对具有非仿射输入及扰动和不确定性的混沌系统的仿真结果表明了该方法的可行性和有效性. 

Output Track Control of Chaotic System with Uncertainty and Non-Affine Inputs

A novel control scheme combining the nonlinear track differentiator and extended state observer (ESO) was presented for a class of chaotic systems with non-affine inputs. All uncertainties and external disturbances were modeled in backstepping. The nonlinear track differentiator was employed to approximate the derivative of the virtual control or the reference signals. The ESO was employed to estimate the uncertainties and disturbance in the system,furthermore, the convergence of ESO was proved. The main characteristics of the scheme are that the computation time is much less than other approaches presented in references and the tracking errors are guaranteed to be uniformly asymptotically stable. Foremost, the output of chaotic system can track arbitrary differentiable reference signal. Simulation results of chaotic systems with non-affine inputs, modeled uncertainties and external disturbances illustrate the feasibility and effectiveness of the proposed control method.