| 仿射非线性系统的能控性 |
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| 引用本文： | 王晓明,崔平远,崔祜涛.仿射非线性系统的能控性[J].控制与决策,2008,23(10). |
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| 作者姓名： | 王晓明 崔平远 崔祜涛 |
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| 作者单位： | 哈尔滨工业大学,深空探测基础研究中心,哈尔滨,150080 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 研究仿射非线性系统的能控性问题.利用向量场族对应的积分曲线定义系统的能控性,建立一个新的基于漂移向量场弱泊松稳定的能控性判据,并给出了完整的证明.利用该结论对定义在紧致黎曼流形上的解析系统,给出了漂移向量场为保守场条件下的能控性的充要条件,并用状态流形的紧致性证明了弱泊松稳定性的几个等价条件.进一步利用保守系统的判据给出了一般仿射非线性系统能控的充分条件,井应用所得结论分析了欠驱动航天器姿态系统的能控性.
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| 关 键 词： | 仿射非线性系统 保守系统 能控性 泊松稳定 |
Controllability of affine nonlinear systems |
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| WANG Xiao-ming,CUI Ping-yuan,CUI Hu-tao.Controllability of affine nonlinear systems[J].Control and Decision,2008,23(10). |
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| Authors: | WANG Xiao-ming CUI Ping-yuan CUI Hu-tao |
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| Affiliation: | WANG Xiao-ming,CUI Ping-yuan,CUI Hu-tao(Deep Space Exploration Research Center,Harbin Institute of Technology,Harbin 150080,China.) |
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| Abstract: | The controllability of affine nonlinear systems is studied.The concept of controllability is defined by using the orbits of families of vector fields.A complete proof of the controllability criterion based on weakly positively Poisson stability of drift vector field is presented.Sufficient condition for systems on compact Riemann manifold with conservative drift vector field to be controllable is given,which is also necessary for analytic systems.Some equivalent conditions for weakly positively Poisson stab... |
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| Keywords: | Affine nonlinear systems Conservative systems Controllability Poisson stable |
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