具有双控制输入通道高阶不确定非线性系统控制设计

本文研究了一类高阶不确定非线性系统的全局渐近稳定控制设计问题.不同于现有结果,本文所研究的高阶非线性系统具有两个控制输入通道,即控制输入直接作用于两个一维子系统.这导致已有的控制设计方法不能或难以用来解决该类控制设计问题,因此,寻求新的控制设计方法,用以解决多控制输入通道高阶非线性系统的控制设计问题,是一个很有意义的研究课题.本文首先引入一个有效的反馈变换,从而在非线性系统满足适当假设条件下,成功地将该类系统的控制设计问题转化为规范的单控制输入通道情况下的控制设计问题.进而借助于已有结果,特别是增加幂次积分方法,给出所研究非线性系统的全局渐近稳定控制器的设计方法.尽管本文所研究的系统是具有多控制输入通道高阶非线性系统的特殊情况,所得结果具有一定的局限性,但对更一般情况具有借鉴和指导作用.最后,仿真算例验证了本文理论结果的有效性.

Control design for high-order uncertain nonlinear systems with double control input channels

A problem of globally asymptotically stable control design is investigated for a class of high-order uncertain nonlinear systems.These systems,unlike the existing results,have double control input channels;that is,the control input directly a-ects two one-dimensional subsystems.This makes the existing methods of control design inapplicable or the control design problem di-cult to solve,and therefore,it is of interest to explore a new control design method to solve the control design of high-order nonlinear systems with multiple control input channels.First,an e-ective feedback transformation is introduced.Hence,this control design problem under appropriate assumptions can be transformed into one with a single control input channel.Then,using existing results,particularly,the method of adding a power integrator,a methodology is proposed to design the globally asymptotically stable controller for the nonlinear systems under investigation.Although the systems studied in the paper are a special case of high-order nonlinear systems with multiple control input channels,the results obtained in the paper,while unavoidably having certain limitations,will provide a reference and guidance in tackling the general case.Finally,a simulation is provided to verify the e-ectiveness of the theoretical results obtained.