Robust tracking control of non-linear systems with uncertain dynamics Part 1
作者:
DAUCHUNG WANG,
CORNELIUST. LEONDES,
期刊:
International Journal of Systems Science
(Taylor Available online 1989)
卷期:
Volume 20,
issue 12
页码: 2619-2641
ISSN:0020-7721
年代: 1989
DOI:10.1080/00207728908910337
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
A robust tracking control algorithm based mainly on the theory of variable structure systems and Lyapunov's direct method is developed in this paper, to treat the tracking control problem of a class of non-linear time-varying systems with uncertain dynamics. A nominal model is used instead of an exact one. together with a description of the bounds of plant uncertainty. The objective is to design a control law such that all the plants lying within a specified band of uncertainly will be driven to reach the goal. The modelling error, time-varying system dynamics, system uncertainties, and disturbances are all treated as general disturbances to the nominal system. This algorithm greatly eases the difficulties present in requiring a precise model of the physical system for the control purpose and for handling the non-linear time-varying system. The non-linear time-varying system is first linearized to a linear time-varying system (with time-varying coefficients completely defined) via the method of variable structure systems. The control method is then switched to the Lyapunov-direct method, to eliminate the control chattering problem caused by the method of variable structure systems and to complete the tracking of the nonlinear time-varying system.
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