| Robust stabilization of general nonlinear systems with structural uncertainty |
| |
| 作者姓名： | 蔡秀珊 韩正之 |
| |
| 作者单位： | Dept. of Mathematics Sanming University，School of Electric and Information Engineering Shanghai Jiaotong University Shanghai 200030，China，School of Electric and Information Engineering Shanghai Jiaotong University，Sanming 365001，China，Shanghai 200030，China |
| |
| 基金项目： | Sponsored by the Natural Science of Foundation of Fujian Province(Grant No.A0510025). |
| |
| 摘 要： | Stabilization and passivity are two fundamental prob-lems in the theory of control systems. Stability is the mostbasic property of a well-worked control system; hence sta-bilization seems to be an importanttopic of the design the-ory of control systems. There have been many results forthe stabilization of linear systems, as well as nonlinearsystems. An outstanding survey can be found in Ref.1]. In the lastdecade, the passivity has been applied tothe stabilization of nonlinear systems. Ref. …
|
| 关 键 词： | 机器人 稳定性 非线性系统 自动控制 |
| 文章编号： | 1005-9113（2006）06-0730-05 |
| 收稿时间： | 2004-03-30 |
Robust stabilization of general nonlinear systems with structural uncertainty |
| |
| CAI Xiu-shan,HAN Zheng-zhi.Robust stabilization of general nonlinear systems with structural uncertainty[J].Journal of Harbin Institute of Technology,2006,13(6):730-734. |
| |
| Authors: | CAI Xiu-shan HAN Zheng-zhi |
| |
| Abstract: | This paper deals with the robust stabilization and passivity of general nonlinear systems with structural uncertainty. By using Lyapunov function, it verifies that under some conditions the robust passivity implies the zero-state detectability, Furthermore, it also implies the robust stabilization for such nonlinear systems. We then establish a stabilization method for the nonlinear systems with structural uncertainty. The smooth state feedback law can be constructed with the solution of an equation. Finally, it is worth noting that the main contribution of the paper establishes the relation between robust passivity and feedback stabilization for the general nonlinear systems with structural uncertainty. The simulation shows the effectiveness of the method. |
| |
| Keywords: | structural uncertainty general nonlinear systems robust passivity robust stabilization |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
