Fully actuated system approaches for continuous-time delay systems:part 1.Systems with state delays only  

作　　者：Guangren DUAN 

机构地区：[1]Center for Control Science and Technology,Southern University of Scienceand Technology,Shenzhen 518055,China [2]Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin 150001,China

出　　处：《Science China(Information Sciences)》2023年第1期154-183,共30页中国科学（信息科学）（英文版）

基　　金：partially supported by Major Program of National Natural Science Foundation of China (Grant Nos.61690210,61690212);National Natural Science Foundation of China (Grant No.61333003);Science Center Program of the National Natural Science Foundation of China (Grant No.62188101)。

摘　　要：In this paper,the fully actuated system(FAS)approaches for continuous-time systems with time-varying state delays are proposed.Two types of continuous-time high-order FAS models with time delays:single-order time-delay FAS models and multi-order time-delay FASs,are proposed.Particularly,the type of sub-FASs that do not completely but partially satisfy the full actuation is investigated,and the sets of feasible points are defined.When the system states are constrained to the feasible set,a controller can be easily constructed for the sub-FAS such that the closed-loop system is a constant linear system with an arbitrarily assignable eigenstructure.In addition,it is demonstrated that the feasibility constraint can be transformed into a constraint on the initial values of the system,which vanishes when the system is a(global)FAS.Based on the unique control characteristic of the type of FAS models,the concepts of controllability and stabilizability of general dynamical time-delay systems are also proposed.The effect of the proposed theories is illustrated with examples.

关 键 词：time-delay systems fully actuated systems controller designs CONTROLLABILITY STABILIZABILITY 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]