基于奇异摄动理论的非仿射系统的输出调节问题  

Output regulation of nonaffine systems based on singular perturbation theory

作　　者：孟博[1] 井元伟[1] 刘晓平[1] 

机构地区：[1]东北大学信息科学与工程学院,沈阳110004

出　　处：《控制与决策》2009年第2期259-263,共5页Control and Decision

基　　金：国家自然科学基金项目(60274009);教育部博士点基金项目(20020145007)

摘　　要：基于奇异摄动的时标分解理论和动态逆设计的方法,研究了一类非仿射非线性系统的输出调节问题.通过将控制律定义为一个快动态系统的解,得到了指数稳定的误差系统状态方程,从而实现了原系统的输出相对于外系统的参考信号具有零误差的跟踪效果.结果表明在满足标准假设和一组偏微分方程有解的前提下,该输出调节问题是可解的.仿真实例表明了该理论方法的有效性.Output regulation problem is considered for a class of nonaffine nonlinear systems based on time-scale separation theory of singular perturbation and inverting design. The resulting control signal is defined as a solution of ＂fast＂ dynamics, by which a state function of error system is obtained whose index is exponentially stable. Then the control scheme can track the reference signal of the exosystem with zero error. The results show that, under standard assumptions, this problem is solvable if and only if a set of first-order nonlinear partial differential equations are solvable. A simulation example illustrates the effectiveness of the theoretical results.

关 键 词：输出调节 时标分解 非仿射非线性系统 动态逆设计 零跟踪误差 

分 类 号：TB114.3[理学—概率论与数理统计] TH122[理学—数学]