一类非线性系统的奇异点克服控制  

Singularity conquering control of a class of nonlinear systems

作　　者：杨智[1] 钟洋[2] 

机构地区：[1]中山大学数据科学与计算机学院,广州510006 [2]中山大学电子与信息工程学院,广州510006

出　　处：《控制与决策》2016年第8期1531-1536,共6页Control and Decision

基　　金：国家自然科学基金项目(60704045)

摘　　要：针对一类非线性系统,研究存在奇异点时的跟踪控制问题.在采用反馈线性化方法将对象转换成标准型后,构造线性补偿器并结合期望轨迹的高阶导数构成伪控制量.通过引入梯度动力学方法求解控制律,以克服在控制过程中遇到的奇异点问题.通过稳定性分析验证了闭环系统的稳定性和跟踪误差的收敛性.仿真结果表明,此类控制器具有良好的控制性能,并且能有效克服奇异点问题.The tracking control problem of a class of nonlinear systems is researched, when there exist singular points during operating process. After the controlled object being transformed into the norm form, the pseudo control signal is generated from a linear compensator together with the derivate of the desired trajectory. Then, the gradient dynamic method is introduced to conquer the singular points that occur in the operating process. Finally, the stability analysis verifies the stability of the closed system, as well as the convergence of the tracking error. Simulation results show the good performance of the proposed controller.

关 键 词：非线性系统 反馈线性化 线性补偿器 跟踪控制 奇异点克服 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]