一类非线性系统的鲁棒控制

针对一类带不确定性的非线性系统，引入坐标变换，对变换后的系统设计了变结构鲁棒控制器，在一定界的限制下，可以达到对不确定性的抑制，不确定性的界不可知时，利用自适应技术进行在线估计；利用线性化方法，对系统的滑动模态进行设计，得到了稳定的滑动模态。

ROBUST CONTROL FOR A CLASS OF NONLINEAR SYSTEMS

A class of nonlinear systems with uncertainties are transformed into certain forms. The existence conditions of the transformation are proved. Then based on the variable structure control theory, robust controllers for systems in these forms are developed under perturbations and uncertainties with known bounds. The existence and stability of the sliding modes are discussed and proved.When these bounds are unknown, on line adaptive techniques are employed to estimate the bounds, and corresponding robust controllers are also developed. Linearization methods are used to design sliding modes in the variable structure control.