首页 | 本学科首页   官方微博 | 高级检索  
相似文献
 共查询到19条相似文献,搜索用时 296 毫秒
1.
一般非线性控制系统的局部反馈渐近镇定   总被引:4,自引:2,他引:4  
佘焱  张嗣瀛 《控制与决策》1998,13(6):624-628
运用微分几何方法讨论了存在相对阶的一般非线性控制系统的局部反馈渐近镇定问题。在给出这类系统基于相对阶的标准形之后,如果其零动态渐近稳定,则可找到控制律局部镇定该系统。所得结果适用于一般非线性控制系统局部反馈渐近镇定的临界问题。  相似文献   

2.
一类非线性时变不确定系统的镇定   总被引:1,自引:1,他引:0  
讨论含时变在数和内部结构不确定性的时变仿射非线性系统的反馈镇定问题,通过引用时变非线性系统的标准形和零动态概念,构造出变结构型的具有状态反馈形式的控制规律。该控制规律使相应闭环系统局部一致渐近稳定。  相似文献   

3.
非线性最小相位系统输出反馈镇定的一个注记   总被引:1,自引:1,他引:0  
讨论了单输入单输出非线性最小相位系统的动态输出反馈镇定.通过加积分器和非 线性变换将系统化为一种标准形式,并基于标准形式的线性部分提出了动态补偿器的设计方 法.然后根据得到的中心流形的表达式和稳定性定理,在零动态流形为一维时,证明了闭环系 统的渐近稳定性,最后给出了一个零动态不具有齐次渐近稳定性但仍能动态输出反馈镇定的 非线性最小相位系统的例子.  相似文献   

4.
研究了离散时间非线性最小相位系统的动态输出反馈镇定.首先对离散时间非线性系 统引入了逼近渐近稳定性的概念.基于此概念,提出了一种动态补偿器设计的新方法.主要结果 是,如果一非线性系统的零动态是逼近渐近稳定的,则能用动态输出反馈镇定.动态补偿器的设 计是构造性的.  相似文献   

5.
考察其标称系统的相对阶大于{1,1,…,1}同时含匹配和非匹配不确定性的MIMO 非线性系统的动态输出反馈镇定问题.文中直接用Lyaunov方法构造一类输出反馈动态补 偿器,该补偿器可以实现对所论非线性不确定系统的动态输出反馈渐近镇定.  相似文献   

6.
本文研究一类不可观非线性系统的动态输出反馈镇定,基于逼近渐近稳定性的概念,给出了动态输出反馈可镇定的充分条件,本文主要结果的直接推论是零动太逼近渐近稳定的最小相位系统能用动态输出反馈镇定,本文的方法也能处理非最小相位系统。  相似文献   

7.
受控中心流形与非线性临界镇定   总被引:3,自引:2,他引:1  
文中我们运用中心流形理论研究了临界非线性系统的局部渐近镇定问题,给出了可控临界指数的概念,在一定条件下得到了运用静态光滑反馈可镇定的充要条件。  相似文献   

8.
带两控制器刚体飞行器的姿态镇定   总被引:2,自引:1,他引:2  
已知带两控制器的刚体飞行器系统不能被连续的纯状态反馈局部渐近镇定.有效的解 决方法包括时变反馈镇定方法和非连续反馈镇定方法.现有的时变反馈镇定方法设计均较为复 杂.已有的光滑时变反馈方法是非指数收敛的.本文通过引入辅助变量以及采用反馈线性化技术 设计出光滑时变的控制器.该方法设计简单且保证闭环系统状态是指数收敛的.仿真结果证明了 本文方法的有效性.  相似文献   

9.
针对一类具有线性不可测量状态的非线性系统,基于状态反馈稳定控制器,利用不变流形和滑模变结构控制技术设计了动态输出反馈镇定控制器.这类控制器的结构类似于系统的状态反馈稳定控制器,在较简单的假定条件下,能够保证被控系统的状态得到渐近镇定.仿真算例表明该动态输出反馈控制器具有较强的镇定能力.  相似文献   

10.
刘梦良  刘允刚 《自动化学报》2013,39(12):2154-2159
研究了一类不确定非线性系统的输出反馈半全局镇定问题. 不同于现有文献,本文研究的控制系统具有更强的非线性和未知控制系数,这增加了设计输出反馈控制器的难度. 基于反推方法和输出反馈占优方法,设计了输出反馈半全局控制器. 通过选取适当的设计参数,该控制器可以保证闭环系统的半全局渐近稳定. 仿真实例验证了理论结果的有效性.  相似文献   

11.
研究非线性奇异系统的反馈稳定化问题,首先给出仿射非线性奇异系统反馈稳定化的概念;然后利用零动态算法构造的局部坐标变换给出仿射非线性奇异系统的一种标准型,并将其用于研究仿射非线性奇异系统的反馈控制和系统稳定化问题;最后证明了对于正则仿射非线性奇异系统,当其零动态渐近稳定时,该系统可通过反馈控制实现系统的稳定化。  相似文献   

12.
A dynamic feedback controller design method is proposed for multiple input systems. The method uses a novel choice of sliding surface to effect asymptotic linearisation of nonlinear differential input output systems and a class of state space systems. The stability of the overall system, that is a canonical state space form with a dynamic feedback, is analysed with a generalised Lyapunov approach plus an asymptotic analysis in a neighbourhood of the origin. The nonlinear system does not have to be expressed in regular form as is the case in many other sliding mode control approaches. A type of zero dynamics, which are the dynamics of the control, are involved. The resulting dynamic feedback is shown to provide chatter free control if the system is minimum phase with respect to the zero dynamics. The theoretical results are applied to Gas Jet systems with two controls.  相似文献   

13.
Asymptotic stabilization of general uncertain dynamical systems is investigated. A new class of continuous feedback controls is proposed to guarantee asymptotic stability for any uncertain systems whose nominal system is uniformly asymptotically stable. The analysis is based on a new theoretical result on asymptotical stability. The required information about uncertain dynamics in the system is merely that the uncertainties are bounded in euclidean norm by a known function of the system state.  相似文献   

14.
This paper presents a re-design for global asymptotic stabilization in the presence of ignored input dynamics, restricted to be minimum-phase and relative degree zero. Using nonlinear small-gain arguments, we design a static feedback control law to achieve global asymptotic stabilization. In the absence of full-state information, an observer-based stabilizing controller is proposed  相似文献   

15.
It is shown that the property of dynamic linearizability, to be understood as linearizability by means of the dynamic extension algorithm, implies the existence of static, possibly time varying, control laws yielding asymptotic output tracking with arbitrary speed of convergence and asymptotic stabilization with a computable bound on the region of attraction. Similar results hold for systems which are only Input/Output linearizable by means of dynamic state feedback, provided that the inverse dynamics possess certain stability properties. Applications of these results to the problem of regional stabilization of a VTOL aircraft is considered, together with the tracking problem for a class of flexible joints robots. Moreover, a novel parameterization for flexible joint robots is also proposed.  相似文献   

16.
In this paper we present sufficient conditions under which a fairly large class of single-input non-linear systems including feedforward systems and the well-known ball-and-beam model, are globally asymptotically and locally exponentially stabilizable by smooth state feedback. A nested saturation controller with state-dependent saturation levels is constructed explicitly, using a novel design approach which combines the nested saturation strategy for marginally unstable linear systems subject to input saturation, with the small feedback design technique, developed for global asymptotic stabilization of general non-affine systems with marginally stable free dynamics. The power of the state-dependent saturation design method is demonstrated by solving a number of non-linear control problems, particularly, the global stabilization problem of a class of two-dimensional non-linear systems and the ball-and-beam system.  相似文献   

17.
We consider the general stabilization problem of linear time-invariant, large-scale multivariable decentralized systems with delays. We have established sufficient stabilization conditions for a general class of decentralized systems. Namely, in the continuous case the requirement is that the matrix measure of the closed-loop subsystem matrices can be made sufficiently negative by appropriate local feedback control, whereas in the discrete case the requirement is that the norm of the closed-loop subsystem matrices can be made arbitrarily small by feedback control.  相似文献   

18.
This paper considers the normal form of non-linear control systems. First we propose a generalized relative degree (relative degree vector) for non-linear single (respectively, multiple) input control system, which is called the point relative degree (respectively, point relative degree vector). For the systems without output, the concepts of essential relative degree (respectively, essential relative degree vector) and the essential point relative degree (respectively, essential point relative degree vector) are defined. Unlike the classical definition which requires regularity, the point relative degree (vector) is always well defined. Using these new concepts the generalized normal form is obtained. Its relationship with the Jacobian linearization is investigated. Using it, a straightforward computation algorithm is provided to achieve the generalized normal form. Based on the generalized normal form we prove that with an additional condition, if the zero-dynamics is stable the overall system is stabilizable by using pseudo-linear state feedback control. For the systems under generalized normal form with unstable zero dynamics, the centre manifold approach is applied. It is shown that the stabilization technique via a designed centre manifold is still applicable to this kind of general non-linear control system.  相似文献   

19.
It is shown, for general nonlinear systems, that asymptotic controllability and observability are sufficient for semiglobal practical asymptotic stabilization by output feedback. Indeed, as previously shown in the literature, asymptotic controllability implies the existence of a (discontinuous in general) state feedback that, when implemented by sample and hold, is semiglobally practically stabilizing and robust to measurement disturbance; moreover, a weak form of observability allows reconstruction of the state with arbitrary precision in an arbitrarily short amount of time. So, we can build an output feedback that operates periodically in two modes: an initial, small fraction of a sampling period is used to estimate the state, and the remainder of the sampling period is used to implement the state feedback control using the state estimate. Our stabilization results are presented not only for compact target sets (e.g., the origin) but also for noncompact target sets.  相似文献   

设为首页 | 免责声明 | 关于勤云 | 加入收藏

Copyright©北京勤云科技发展有限公司  京ICP备09084417号