Adding integrations, saturated controls, and stabilization for feedforward systems
Adding integrations, saturated controls, and stabilization for feedforward systems
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DOI：
10.1109/9.543995
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发表时间：
1996-11
期刊：
影响因子：
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通讯作者：
F. Mazenc;L. Praly
中科院分区：
文献类型：
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作者：
F. Mazenc;L. Praly
我们的研究涉及的系统的动力学推广x/spl点/=h（y，u），y/spl点/=f（y，u），其中的状态分量x集成的其他组件y和输入u的功能。我们给出了充分条件，在此条件下，全局渐近稳定的y子系统（分别通过饱和控制）意味着全局渐近稳定的整个系统（分别通过饱和控制）。它是通过显式构造一个控制李雅普诺夫函数，并提供反馈法律与几个自由度，可以利用来解决设计约束。此外，我们研究如何适当的坐标变化，使我们能够扩展其应用领域。最后，我们将展示所提出的方法是如何作为一个基本的工具来使用，在递归设计，以处理更复杂的系统。特别是所谓的前馈系统的稳定问题可以通过这种方式解决。
Our study relates to systems whose dynamics generalize x/spl dot/=h(y,u), y/spl dot/=f(y,u), where the state components x integrate functions of the other components y and the inputs u. We give sufficient conditions under which global asymptotic stabilizability of the y subsystem (respectively, by saturated control) implies global asymptotic stabilizability of the overall system (respectively, by saturated control). It is obtained by constructing explicitly a control Lyapunov function and provides feedback laws with several degrees of freedom which can be exploited to tackle design constraints. Also, we study how appropriate changes of coordinates allow us to extend its domain of application. Finally, we show how the proposed approach serves as a basic tool to be used, in a recursive design, to deal with more complex systems. In particular the stabilization problem of the so-called feedforward systems is solved this way.