Robust control for uncertain nonlinear systems and simulation research

摘要

For a class of nonlinear systems with uncertainties, coordinate transformation, which transforms the systems into concise forms, is discussed. Then based on variable structure control theory, robust stabilizing controllers are developed. Some problems concerning variable structure control, such as sliding modes, design of switching function, phenomenon known as chattering are also discussed. At the end of the paper, the proposed method is studied through simulation.