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非线性非最小相位系统的控制研究综述
引用本文:苏善伟,朱波,向锦武,林岩.非线性非最小相位系统的控制研究综述[J].自动化学报,2015,41(1):9-21.
作者姓名:苏善伟  朱波  向锦武  林岩
作者单位:1.北京航空航天大学无人机研究所 北京 100191;
基金项目:国家自然科学基金,中国博士后基金(2013M530509)资助Supported by National Natural Science Foundation of China,China Postdoctoral Science Foundation
摘    要:非线性非最小相位系统是指具有不稳定零动态或内部动态的非线性系统, 其本身固有的非最小相位特性限制了许多常规非线性控制方法(如反推控制、反馈线性化、滑模控制等)的直接应用. 因此, 非最小相位系统的控制比最小相位系统要困难得多, 是控制理论与工程应用中具有挑战性的课题之一. 本文综述了目前非线性非最小相位系统的研究成果, 着重介绍了非最小相位系统的成因、特性、 理想内模求解等问题, 并对其镇定、轨迹跟踪及路径跟踪等控制方法进行了分析比较. 最后, 讨论了非线性非最小相位系统研究领域中尚存在的问题, 并对其未来发展方向进行了展望.

关 键 词:非最小相位    非线性控制    零动态    镇定    跟踪控制
收稿时间:2014-05-07

A Survey on the Control of Nonlinear Non-minimum Phase Systems
SU Shan-Wei,ZHU Bo,XIANG Jin-Wu,LIN Yan.A Survey on the Control of Nonlinear Non-minimum Phase Systems[J].Acta Automatica Sinica,2015,41(1):9-21.
Authors:SU Shan-Wei  ZHU Bo  XIANG Jin-Wu  LIN Yan
Affiliation:1.Research Institute of Unmanned Aerial Vehicle, Beihang University, Beijing 100191;2.School of Aeronautics and Astronautics, University of Electronic Science and Technology of China (UESTC), Chengdu 611731;3.School of Aeronautics Science and Engineering, Beihang University, Beijing 100191;4.School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191
Abstract:Nonlinear non-minimum phase systems have unstable zero dynamics or internal dynamics, their non-minimum phase property restricts the direct application of many powerful nonlinear control techniques, such as backstepping, feedback linearization, and sliding mode control. So the control of non-minimum phase systems is more difficult than that of minimum phase systems, and is one of the challenging issues in the control theory and engineering applications. This research summarizes the existing results of nonlinear non-minimum phase systems, and focuses on the topics including the origin of non-minimum phase systems, their characteristics and the solution methods of ideal internal dynamics. The control methods of stabilization, trajectory tracking and path following are analyzed and compared as well. Finally, the problems to be solved and the research trends are prospected at the end of the paper.
Keywords:Non-minimum phase  nonlinear control  zero dynamics  stabilization  tracking control
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