非线性非最小相位系统的控制研究综述  

A Survey on the Control of Nonlinear Non-minimum Phase Systems

作　　者：苏善伟[1] 朱波[2] 向锦武[3] 林岩[4] 

机构地区：[1]北京航空航天大学无人机研究所,北京100191 [2]电子科技大学航空航天学院,成都611731 [3]北京航空航天大学航空科学与工程学院,北京100191 [4]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《自动化学报》2015年第1期9-21,共13页Acta Automatica Sinica

基　　金：国家自然科学基金(61403013;61304016;61273141);中国博士后基金(2013M530509)资助~~

摘　　要：非线性非最小相位系统是指具有不稳定零动态或内部动态的非线性系统,其本身固有的非最小相位特性限制了许多常规非线性控制方法 (如反推控制、反馈线性化、滑模控制等)的直接应用.因此,非最小相位系统的控制比最小相位系统要困难得多,是控制理论与工程应用中具有挑战性的课题之一.本文综述了目前非线性非最小相位系统的研究成果,着重介绍了非最小相位系统的成因、特性、理想内模求解等问题,并对其镇定、轨迹跟踪及路径跟踪等控制方法进行了分析比较.最后,讨论了非线性非最小相位系统研究领域中尚存在的问题,并对其未来发展方向进行了展望.Nonlinear non-minimum phase systems have unstable zero dynamics or internal dynamics, their non-minimum phase property restricts the direct application of many powerful nonlinear control techniques, such as backstepping,feedback linearization, and sliding mode control. So the control of non-minimum phase systems is more difficult than that of minimum phase systems, and is one of the challenging issues in the control theory and engineering applications. This research summarizes the existing results of nonlinear non-minimum phase systems, and focuses on the topics including the origin of non-minimum phase systems, their characteristics and the solution methods of ideal internal dynamics. The control methods of stabilization, trajectory tracking and path following are analyzed and compared as well. Finally, the problems to be solved and the research trends are prospected at the end of the paper.

关 键 词：非最小相位 非线性控制 零动态 镇定 跟踪控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]