State feedback regulation of nonlinear systems using conditional integrators
State feedback regulation of nonlinear systems using conditional integrators
复制标题
使用条件积分器对非线性系统进行状态反馈调节
DOI：
--
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
H. Khalil
中科院分区：
文献类型：
--
作者：
Abhyudai Singh;H. Khalil
本文研究非线性系统的条件积分调节问题。以前的工作介绍了工具的条件积分器，提供积分行动内的边界层，而作为稳定的系统外，导致改善瞬态响应，同时实现渐近调节存在未知的常数干扰或参数的不确定性。然而，该方法仅限于滑模控制框架。本文将这一工具推广到一个相当一般的类或状态反馈控制律，与规定，我们知道一个李雅普诺夫函数的闭环系统。渐近调节与瞬态响应的改善是通过使用李雅普诺夫重新设计技术来实现的状态反馈控制作为一个饱和的高增益反馈，并引入一个条件积分器，以提供边界层内的积分行动。使用条件积分器的瞬态响应的改善与实验应用Pendubot证明。
This paper studies the regulation of nonlinear systems using conditional integrators. Previous work introduced the tool of conditional integrators that provide integral action inside a boundary layer while acting as stable systems outside, leading to improvement in transient response while achieving asymptotic regulation in the presence of unknown constant disturbances or parameter uncertainties. The approach, however, is restricted to a sliding mode control framework. This paper extends this tool to a fairly general class or state feedback control laws, with the stipulation that we know a Lyapunov function for the closed-loop system. Asymptotic regulation with improvement in transient response is done by using the Lyapunov redesign technique to implement the state feedback control as a saturated high-gain feedback and introducing a conditional integrator to provide integral action inside a boundary layer. Improvement in the transient response using conditional integrators is demonstrated with an experimental application to the Pendubot.