Global robust optimal sliding mode control for uncertain affine nonlinear systems

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摘要 Theproblemofrobustifyinglinearquadraticregulators(LQRs)foraclassofuncertainaffinenonlinearsystemsisconsidered.First,theexactlinearizationtechniqueisusedtotransformanuncertainnonlinearsystemintoalinearoneandanoptimalLQRisdesignedforthecorrespondingnominalsystem.Then,basedontheintegralslidingmode,adesignapproachtorobustifyingtheoptimalregulatorisstudied.Asaresult,thesystemexhibitsglobalrobustnesstouncertaintiesandtheidealslidingmodedynamicsisthesameasthatoftheoptimalLQRforthenominalsystem.Aglobalrobustoptimalslidingmodecontrol(GROSMC)isrealized.Finally,anumericalsimulationisdemonstratedtoshowtheeffectivenessandsuperiorityoftheproposedalgorithmcomparedwiththeconventionaloptimalLQR.
机构地区 不详
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)
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