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The problem of designing robust H∞ controls for a large class of uncertain nonlinear time-varying systems involving parametric uncertainties, unmodelled perturbations, and external disturbances is addressed. A nonlinear H∞ control technique is combined with the adaptive control technique and the variable structure control technique to construct a hybrid robust adaptive stabilisation controller that allows a H∞ control to be achieved. Furthermore, the developed robust H∞ stabilisation control scheme can be easily applied to the solution of robust tracking control design problems for a general class of uncertain nonlinear systems. A simulation problem involving the control of a nonlinear chaotic Chua's circuit is solved to confirm the effectiveness and performance of the developed tracking control scheme.
Control Theory and Applications, IEE Proceedings - (Volume:151 , Issue: 5 )
Date of Publication: 23 Sept. 2004