A Nonlinear Robust Controller Design of Lower-Triangular Systems Based on Dissipation Theory

摘要

Based on dissipation theory, a novel robust control is proposed for the lower-triangular nonlinear systems, which include strict-feedback systems and high-order lower-triangular systems. Some important concepts in dissipation theory are integrated into the recursive design, which are used to dominate the uncertain disturbance and construct the robust controller. The gotten controller renders the closed-loop system finite-gainL2stable in the presence of disturbance and asymptotically stable in the absence of disturbance. Especially, the controller has its advantage in regulating large disturbance. Finally, one example and one application are given to show the effectiveness of the design method. Moreover, by comparing with another robust controller, the characteristic of the proposed controller is illustrated in the simulations.