Input assignability of nonlinear system and its applications in robust/tracking control

Yuqing He, Jianda Han
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引用次数: 3

Abstract

It's well known that measured or estimated uncertainty information is absolutely beneficial to design robust controller. However, few researches have been conducted on that due to the difficulties of obtaining uncertainty information. Most recently, development of observation/estimation and measurement techniques (especially for nonlinear systems) make it possible to get full or partial uncertainty information. Thus, in this paper, a new concept of input assignability is introduced and used to design robust controller for nonlinear systems. The main idea of this new control scheme is firstly presented with respect to two typical nonlinear systems; subsequently, it is generalized and combined with the input-output finite gain L2 stable control to attenuate disturbances without deteriorating closed loop performance greatly; finally, experiments on a inverted pendulum testbed are carried out and the results verify feasibility and validity of the proposed scheme.
非线性系统输入可分配性及其在鲁棒跟踪控制中的应用
众所周知,测量或估计的不确定性信息对鲁棒控制器的设计是绝对有益的。但由于不确定性信息难以获取,相关研究较少。最近,观测/估计和测量技术(特别是非线性系统)的发展使得获得全部或部分不确定性信息成为可能。因此,本文引入了输入可分配性的新概念,并将其用于非线性系统的鲁棒控制器设计。首先针对两个典型的非线性系统给出了该控制方法的主要思想;随后,将其推广并与输入输出有限增益L2稳定控制相结合,在不显著降低闭环性能的前提下,对扰动进行衰减;最后,在倒立摆实验台上进行了实验,验证了所提方案的可行性和有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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