严格反馈型非线性系统鲁棒控制及应用

Preface

Acronyms

Chapter 1 Introduction

1.1 Background

1.2 Organization

References

Chapter 2 Robust Output Feedback Control of a Class of Nonlinear Systems in Normal Form

2.1 Robust Control for a Class of SISO Nonlinear Systems

2.1.1 Introduction

2.1.2 Problem Description of Nonlinear Systems in Normal Form .

2.1.3 Robust Output Feedback Control Based on Signal Compensation

2.1.4 Robust Property Analysis of Closed—loop Systems Based on Signal Compensation

2.1.5 Experimental Results

2.2 Robust Output Feedback Control for a Class of MIM03—DoF Helicopter Systems

2.2.1 Introduction

2.2.2 Modeling of Helicopt，er 3—DoF Motion

2.2.3 Robust.Controller Design of 3—DoF Helicopter

2.2.4 Robust Control Properties of 3—DoF Helicopter

2.2.5 Experimental Results

2.3 Conclusion

References

Chapter 3 Sufficient and Necessary Condition of Admissibility for Fractional—order Singular System

3.1 Introduction

3.2 Preliminaries

3.3 Sufficient and Necessarv Condition of Admissibility for Fractional—order Singular System

3.4 Numerical Example

3.5 Conclusion

References

Chapter 4 Robust Backstepping Control for Strict—feedback Form Systems with Nonlinear Uncertainty

4.1 Robust Backstepping Control for SISO Strict—feedback Form Systems

4.1.1 Introduction

4.1.2 Problem Description of SISO Strict—feedback Form Systems

4.1.3 Robust Backstepping Control Based on Signal Compensation

4.1.4 Robust Property Analysis of Closed—loop Systems

4.1.5 Simulation Results

4.2 Robust Decentralized Control for MIMO Strict—feedback Form Systems

4.2.1 Introduction

4.2.2 Problem Description of MIMO Strict—feedback Form Systems

4.2.3 Robust Decentralized Control Design Procedure

4.2.4 Robust， Property of Closed—loop Systems

4.2.5 Simulatioris Results

4.3 Robust Backstepping Decentralized Tracking Control for a 3—DoF Helicopter

4.3.1 Introduction

4.3.2 Problem Description of the 3—DoF Helicopter

4.3.3 Control Task of the 3—DoF Helicopter

4.3.4 Robust Control Design Procedure of the 3—DoF Helicopter

4.3.5 Robust Property of the 3—DoF Helicopter System

4.3.6 Experimental Results

References

Chapter 5 Robust Decentralized Control for Uncertain MIMO Nonlinear Systems with Time—varying Delays

5.1 Introduct.ion

5.2 Problem Description of MIMO Nonlinear Time—delay Systems

5.3 Control Design Procedure of MIMO Nonlinear Time—delay Systems

5.4 Robust Property of MIMO Nonlinear Time—delay Systems

5.5 Simulation Results

5.6 Conclusions

References

《严格反馈型非线性系统鲁棒控制及应用（英文版）》结合作者近年来的研究工作，详细介绍了几类非线性系统的鲁棒控制问题及其在无人直升机姿态控制上的应用。主要内容包括：标准型系统的输出反馈鲁棒跟踪控制器设计与系统的稳定性分析，分数阶奇异系统容许性的充分必要条件，严格反馈型系统鲁棒跟踪控制器设计及系统的稳定性分析，时滞多变量系统的鲁棒跟踪控制器设计及系统的稳定性分析，及其在无人直升机，高超声速飞行器，化工过程，柔性臂系统，智能交通系统，加速度计组合件温度控制等实际系统中的应用，仿真结果和实验结果验证了鲁棒控制器的有效性