不确定非线性系统的鲁棒输出跟踪

研究了一类具有参数不确定性和外界干扰的仿射非线性系统鲁棒输出跟踪控制问题。首先利用微分几何理论中的输入输出反馈线性化技术钭不确定线性系统通过一非线性状态变换化为线性化规范形，然后利用变结构控制的思想提出了一种基于标称系统和不确定性范数界的鲁棒输出跟踪控制器设计方案，并用李雅普诺夫稳定性理论证明了利用本文设计的跟踪控制器可保证闭环系统是有界稳定的，且稳态输出跟踪误差为零。由于所设计的跟踪控制律连续，克服了常规变结构控制方案可能引起的高频抖振现象。将本文结论应用于一空间飞行器的姿态跟踪控制问题，仿结果表明了该设计方法的有效性。

Robust Output Tracking for Nonlinear Systems with Uncertainties

A robust control problem of output tracking for a class of affine nonlinear systems with uncertainties is considered. The control design combines differential geometric feedback linearization with sliding mode. Nonlinear systems are transformed into an equivalent linear system, and a design method of robust tracking controller is proposed for nonlinear uncertain systems based on the nominal systems and the bounds of uncertainties, the stability of the corresponding closed loop systems is proved with Lyapunov stability theorem. Attractive features of the proposed method include a systematic procedure of controller design, a reduction in chattering, robustness against model uncertainties and external disturbances. A spacecraft attitude control problem is given to demonstrate the effectiveness of the method.