共查询到17条相似文献,搜索用时 93 毫秒
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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
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We consider systems with unmodeled dynamics appearing at the input, and present a redesign that preserves global asymptotic stability. The admissible unmodeled dynamics are relative degree zero and minimum phase. The redesign is illustrated on an analytical example. 相似文献
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This paper examines the robustness of the adaptive controller designed using the backstepping technique proposed in Kristic et al. (Nonlinear and Adaptive Control Design, Wiley, New York, 1995). It is shown that the adaptive controller without any modification still possesses some robustness against a class of unmodeled dynamics. Moreover, the system transient performance in the presence of unmodeled dynamics can be improved to an arbitrary level by adjusting the controller design parameters. 相似文献
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Recently, we developed a structural decomposition for multiple input multiple output nonlinear systems that are affine in
control but otherwise general. This structural decomposition simplifies the conventional backstepping design and allows a
new backstepping design procedure that is able to stabilize some systems on which the conventional backstepping is not applicable.
In this paper we further exploit the properties of such a decomposition for the purpose of solving the semi-global stabilization
problem for minimum phase nonlinear systems without vector relative degrees. By taking advantage of special structure of the
decomposed system, we first apply the low gain design to the part of system that possesses a linear dynamics. The low gain
design results in an augmented zero dynamics that is locally stable at the origin with a domain of attraction that can be
made arbitrarily large by lowering the gain. With this augmented zero dynamics, backstepping design is then applied to achieve
semi-global stabilization of the overall system. 相似文献
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一般非线性系统的零动态、正则标准形与局部反馈渐近镇定 总被引:3,自引:0,他引:3
研究了一般非线性系统的零动态算法,得到了应用广泛的正则标准形,只需对系统
做较弱的正则性假设,即平衡点附近某些分布是非奇异的.同时讨论了该标准形在局部反馈
渐近镇定中的应用,该结果适用于解决局部反馈渐近镇定的临界问题.仿射非线性系统的结
果成为该文结果的特例. 相似文献
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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
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Keylan Alimhan Hiroshi Inaba 《国际自动化与计算杂志》2006,3(3):215-221
This paper studies the global stabilization problem by an output controller for a family of uncertain nonlinear systems satisfying some relaxed triangular-type conditions and with dynamics which may not be exactly known. Using a feedback domination design method, we explicitly construct a dynamic output compensator which globally stabilizes such an uncertain nonlinear system. The usefulness of our result is illustrated with an example. 相似文献
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During numerical forward dynamics of constrained multibody systems, a numerical violation of system kinematical constraints
is the important issue that has to be properly treated. In this paper, the stabilized time-integration procedure, whose constraint
stabilization step is based on the projection of integration results to underlying constraint manifold via post-integration
correction of the selected coordinates is discussed. A selection of the coordinates is based on the optimization algorithm
for coordinates partitioning. After discussing geometric background of the optimization algorithm, new formulae for optimized
partitioning of the generalized coordinates are derived. Beside in the framework of the proposed stabilization algorithm,
the new formulae can be used for other integration applications where coordinates partitioning is needed. Holonomic and non-holonomic
systems are analyzed and optimal partitioning at the position and velocity level are considered further. By comparing the
proposed stabilization method to other projective algorithms reported in the literature, the geometric and stabilization issues
of the method are addressed. A numerical example that illustrates application of the method to constraint violation stabilization
of non-holonomic multibody system is reported.
An erratum to this article can be found at 相似文献