Simple saturated designs for ANCBC systems and extension to feedforward nonlinear systems
Simple saturated designs for ANCBC systems and extension to feedforward nonlinear systems
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DOI：
10.1080/00207179.2012.706712
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发表时间：
2012-10
影响因子：
2.1
通讯作者：
Huawen Ye;W. Gui
中科院分区：
文献类型：
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作者：
Huawen Ye;W. Gui
本文重新研究了具有有界控制的渐近零能控（ANCBC）系统的鲁棒镇定问题，并将所建立的算法推广到一类标称动态同时包含多个积分器和多个振子的前馈非线性系统.基于“收敛输入有界态”（CIBS）而不是“小输入小态”（SISS）的概念，Sussmann等人（Sussmann，H. J.，桑塔格，E. D.，和Yang，Y.（1994），“A General Result on the Stabilization of Linear Systems using Bounded Controls '，IEEE Transactions on Automatic Control，39，2411-2425），并且给出了用于ANCBC系统的CIBS稳定的一类简单饱和控制律。然后，结合高阶项的处理技术，将ANCBC系统的算法推广到前馈非线性系统。
This article re-examines the robust stabilisation of the asymptotically null-controllable with bounded controls (ANCBC) systems, and extends the established algorithm to a wide class of feedforward nonlinear systems whose nominal dynamics contains both multiple integrators and multiple oscillators. Based on the notion of ‘converging-input bounded-state’ (CIBS) rather than ‘small-input small-state’ (SISS), the computation burden in Sussmann et al. (Sussmann, H.J., Sontag, E.D., and Yang, Y. (1994), ‘A General Result on the Stabilization of Linear Systems using Bounded Controls’, IEEE Transactions on Automatic Control, 39, 2411–2425) is reduced and a class of simple saturated control laws is presented for the CIBS stabilisation of ANCBC systems. Then, by combining the technique of dealing with higher-order terms, the algorithm for ANCBC systems is extended to feedforward nonlinear systems.