A linear differential operator approach to flatness based tracking for linear and non-linear systems
A linear differential operator approach to flatness based tracking for linear and non-linear systems
复制标题
用于线性和非线性系统的基于平坦度跟踪的线性微分算子方法
DOI：
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发表时间：
2003
期刊：
影响因子：
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通讯作者：
J. Deutscher
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文献类型：
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作者：
J. Deutscher
该贡献为微分算子表示中线性系统的跟踪提供了一种基于平坦性的解决方案。由于微分算子表示是一个平坦的系统表示，跟踪控制器可以很容易地使用动态输出反馈设计。然后，微分算子方法的平坦性为基础的跟踪线性系统扩展到非线性系统。所得到的线性时变动态输出反馈控制器的设计是基于一个线性化的轨迹，直接产生的微分算子表示。与基于非线性平坦度的控制器设计不同，新方法在稳定跟踪和计算输出反馈控制器方面都使用了线性方法。所提出的设计过程，确保精确的跟踪在稳定状态时，没有干扰。一个简单的例子演示了一个动态输出反馈控制器的设计跟踪的非线性系统。
This contribution presents a flatness based solution to the tracking for linear systems in differential operator representation. Since the differential operator representation is a flat system representation, tracking controllers can easily be designed using dynamic output feedback. Then, the differential operator approach for flatness based tracking of linear systems is extended to non-linear systems. The design of the resulting linear time varying dynamic output feedback controller is based on a linearization about the trajectory, which directly yields the differential operator representation. Different from the non-linear flatness based controller design the new approach uses linear methods, both in stabilizing the tracking and in computing the output feedback controller. The proposed design procedure assures exact tracking in the steady state when no disturbances are present. A simple example demonstrates the design of a dynamic output feedback controller for the tracking of a non-linear system.