Adaptive dynamic inversion for nonaffine-in-control systems via time-scale separation: part II
Adaptive dynamic inversion for nonaffine-in-control systems via time-scale separation: part II
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DOI：
10.1109/acc.2005.1470523
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发表时间：
2005-06
期刊：
影响因子：
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通讯作者：
E. Lavretsky;N. Hovakimyan
中科院分区：
文献类型：
--
作者：
E. Lavretsky;N. Hovakimyan
针对不确定非仿射受控动态系统，提出了一种自适应动态逆方法。在线近似的自适应动态逆控制器进行使用时间尺度分离。由此产生的控制信号寻求作为一个“快速”的动力学方程，它反转的一系列并行模型，其状态被示出为跟踪原始的非仿射控制系统的状态的解决方案。给出了系统参数的数值可验证的充分条件。一个仿真例子说明了理论结果。
This paper presents an adaptive dynamic inversion method for uncertain nonaffine-in-control dynamical systems. Online approximation of the adaptive dynamic inversion controller is performed using time-scale separation. The resulting control signal is sought as a solution of a "fast" dynamical equation, which inverts a series parallel model, whose state is shown to track the state of the original nonaffine-in-control system. Numerically verifiable sufficient conditions on the system parameters are given. A simulation example illustrates the theoretical results.