ROBUST GENERALIZED POINTWISE MIN-NORM CONTROLLER FOR INPUT CONSTRAINED NONLINEAR SYSTEMS
输入受限非线性系统的鲁棒广义逐点最小范数控制

In this paper, based on the concept of input-output finite gain $L_2$ stability, a new robust Control Lyapunov Function concept is defined. Then, a robust generalized pointwise min-norm (RGPMN) controller, presenting robustness with respect to both external disturbances and internal uncertainties, is proposed for nonlinear uncertain system with input constraints and its analytical form is studied. One of the key attractions of the new controller is that, by introducing the concept of ``guide function", other closed loop performance requirements besides the closed loop stability can be considered easily during the controller design. Finally, simulations of the new proposed RGPMN control combining the state dependent Riccati equation strategy is conducted and the results show its feasibility and validity.