Robust Information Fusion Control for a Class of Nonlinear Discrete-time Systems

A nonlinear robust information fusion control method is proposed for the control problems of a class of nonlinear discrete-time systems with matching disturbances. By adding a constraint on the disturbance in the performance index function, we convert the robust control problem into an optimal control problem, and then solve it with the information fusion control method. After the conversion process, using the information fusion control method can not only avoid the necessity of solving the nonlinear Riccati equation in the traditional optimal control problem, but also make the control system have a certain robust performance. The method depends on the discrete model of the controlled system, and is easily applied to engineering practices. The simulation results based on the model of two degrees of freedom in a mechanical arm verify the effectiveness of the robust information fusion control algorithm.