具有结构不确定性一般非线形系统通过鲁棒无源的反馈镇定.pdfVIP

Vol. 31, No. 6 ACTA AUTOMATICA SINICA November, 2005 Feedback Stabilization by Robust Passivity of General Nonlinear Systems with Structural Uncertainty1) CAI Xiu-Shan1,2 HAN Zheng-Zhi1 KOU Chun-Hai1 1 (Department of Automation, Shanghai Jiaotong University, Shanghai 200030) 2 (Fujian Sanming University, Sanming 365001) (E-mail: xiushan@zjnu.cn) Abstract The general nonlinear system with structural uncertainty is dealt with and necessary conditions for it to be robust passivity are derived. From these necessary conditions, sufficient conditions of zero state detectability are deduced. Based on passive systems theory and the technique of feedback equivalence, sufficient conditions for it to be locally (globally) asymptotically stabilized via smooth state feedback are developed. A smooth state feedback control law can be constructed explicitly to locally (globally) stabilize the equilibrium of the closed-loop system. Simulation example shows the effectiveness of the method. Key words Structural uncertainty, general nonlinear systems, robust passivity, zero state de- tectability 1 Introduction At an early stage, passive or dissipative systems theory was primarily used to analyze stability of nonlinear systems. In recent 15 years, great developments of synthesis techniques that combine the theory of passive systems with geometric nonlinear control theory have been made[1∼7] . In particular, using the passivity-based synthesis approach, Byrnes[1] presented a fairly complete solution