On Parametrizations for a Special Class of Nonlinear Systems

On Parametrizations for a Special Class of Nonlinear Systems
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一类特殊非线性系统的参数化

DOI：
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发表时间：
2010
期刊：
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通讯作者：
K. Schlacher
K. Schlacher
中科院分区：
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文献类型：
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作者：
M. Schöberl;K. Schlacher

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摘要 我们分析了为一类特殊的非线性控制系统找到系统参数化的构造过程。该算法的关键特征是坐标变换的推导，保证多个变量是不可微分的，因此可以被消除。在这种情况下，仿射导数系统（AD 系统）将发挥重要作用。消除变量通常会导致隐式系统可能不是仿射导数形式。因此，分析是否也可以消除以保留 AD 结构是很有意义的。建议的想法将在具有三个状态和两个输入的非线性控制系统的几个示例中得到演示。
Abstract We analyze a constructive procedure to find a system parametrization for a special class of nonlinear control systems. The key feature of the algorithm will be the derivation of coordinate transformations that guarantee that several variables turn out to be not differentiated and can therefore be eliminated. In this context the class of affine derivative systems (AD-systems) will play a prominent role. Elimination of variables in general leads to implicit systems which might not be in affine derivative form. Therefore it is of interest to analyze if elimination is also possible such that the AD-structure is preserved. The suggested ideas will be demonstrated on several examples of nonlinear control systems with three states and two inputs.