A Robust Optimal Coorperation Method for Nonlinear Uncertain Systems

In order to establish a merging method for nonlinear systems between robust control and optimal control, a robust optimal cooperation(ROC) method for nonlinear uncertain systems is proposed in this paper. First of all, a robust H
∞
controller is established to eliminate the disturbance. Then, LQ-optimal controller is designed to process the nominal part of systems. Finally, another controller is performed to improve the cooperation between H
∞
and LQ-optimal controllers. A traditional H
∞
control method is compared to illustrate the effectiveness of this method. Simulation results have shown that the control effect of the proposed method is faster and more stable.