一类非线性系统的动态曲面控制设计

Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) Pub Date : 2001-12-04 DOI:10.1109/CDC.2001.980697

B. Song, A. Howell, J. Hedrick

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引用次数: 30

摘要

提出了一种分析动态表面控制(DSC)控制器增益和滤波器时间常数的新方法。首先，DSC为一类非线性系统提供了具有有界扰动项的线性闭环误差动力学。这可以用来为名义稳定性的误差动力学系统矩阵分配所需的特征值。然后，给出了在不确定条件下测试固定控制器稳定性和性能的方法。最后，通过凸优化得到了一个可行的二次Lyapunov函数和跟踪误差界的椭球逼近。

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Dynamic surface control design for a class of nonlinear systems

A novel method for analyzing the controller gains and filter time constants of dynamic surface control (DSC) is presented. First, DSC provides linear closed loop error dynamics with bounded perturbation terms for a class of nonlinear systems. This can be used to assign the desired eigenvalues to the system matrix of the error dynamics for the nominal stability. Then, a procedure for testing the stability and performance of the fixed controller in the face of uncertainties is presented. Finally, a feasible quadratic Lyapunov function for a regulation problem and an ellipsoidal approximation of tracking error bounds are obtained via convex optimization.

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Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)

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