摘要
Theproblemofrobustifyinglinearquadraticregulators(LQRs)foraclassofuncertainaffinenonlinearsystemsisconsidered.First,theexactlinearizationtechniqueisusedtotransformanuncertainnonlinearsystemintoalinearoneandanoptimalLQRisdesignedforthecorrespondingnominalsystem.Then,basedontheintegralslidingmode,adesignapproachtorobustifyingtheoptimalregulatorisstudied.Asaresult,thesystemexhibitsglobalrobustnesstouncertaintiesandtheidealslidingmodedynamicsisthesameasthatoftheoptimalLQRforthenominalsystem.Aglobalrobustoptimalslidingmodecontrol(GROSMC)isrealized.Finally,anumericalsimulationisdemonstratedtoshowtheeffectivenessandsuperiorityoftheproposedalgorithmcomparedwiththeconventionaloptimalLQR.
出版日期
2009年04月14日(中国期刊网平台首次上网日期,不代表论文的发表时间)