摘要
针对一类含扰动Lipschitz非线性系统的鲁棒控制问题进行了研究,讨论了基于观测器的非线性系统鲁棒控制问题。首先,对满足Lipschitz条件的非线性系统构造出了状态观测器;其次,考虑到系统中的扰动项,根据Lyapunov理论分两种情况以线性矩阵不等式的形式给出基于状态观测器的控制器存在的充分条件,得到了观测器增益矩阵及控制器增益矩阵的计算方法,实现了非线性系统的鲁棒控制;最后,利用数值算例验证了所提方法的有效性。
The problem of robust control for a class of Lipschitz nonlinear systems with disturbances is studied,and the problem of observer-based robust control for nonlinear systems is discussed.Firstly,a state observer is constructed for the nonlinear system satisfying Lipschitz condition.Secondly,in consideration of the disturbance term in the system,the sufficient conditions for the existence of the observer-based controller in two cases are given in the form of Linear Matrix Inequalities(LMI) according to Lyapunov theory,the calculation methods of observer gain matrix and controller gain matrix are obtained and the robust control of the nonlinear system is realized.Finally,a numerical example is given to verify the effectiveness of the proposed method.
作者
孙延修
SUN Yanxiu(Basic Course Department,Shenyang Institute of Technology,Fushun 113000,China)
出处
《电光与控制》
CSCD
北大核心
2022年第4期48-51,共4页
Electronics Optics & Control
基金
2020年沈阳工学院青年骨干教师科研基金(QN202009)。
关键词
观测器
非线性系统
鲁棒控制
线性矩阵不等式
observer
nonlinear system
robust control
Linear Matrix Inequality(LMI)
