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A unifying framework for global regulation via nonlinear output feedback

机译:通过非线性输出反馈进行全球监管的统一框架

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This paper presents a unifying framework for the problem of robust global regulation via output feedback for nonlinear systems with integral input-to-state stable (iISS) inverse dynamics, subject to possibly unknown control direction. The contribution of the paper is two-fold. Firstly, we consider the problem of global regulation, instead of global asymptotic stabilization (GAS), for systems with generalized dynamic uncertainties. It is shown by an elementary example that GAS is not solvable using conventional smooth output feedback. Secondly, we reduce the stability requirements for the disturbance and demand relaxed assumptions for the system. Using our framework, most of the known classes of output feedback form systems are broadened in several directions: unmeasured states and unknown parameters can appear non-linearly, restrictive matching and growth assumptions are removed, the dynamic uncertainty satisfies the weaker condition of Sontag's integral input-to-state stability, and the sign of high-frequency gain may be unknown. A constructive strategy is proposed to design a dynamic output feedback control law, that drives the state to the origin while keeping all other closed-loop signals bounded.
机译:本文提出了一个统一的框架,该框架针对具有积分输入到状态稳定(iISS)逆动力学的非线性系统的输出反馈,通过输出反馈进行鲁棒的全局调节,该问题可能受到未知的控制方向的约束。论文的贡献是双重的。首先,我们考虑具有广义动态不确定性的系统的全局调节问题,而不是全局渐近稳定(GAS)问题。通过一个基本示例显示,使用常规的平滑输出反馈无法解决GAS。其次,我们降低了对扰动的稳定性要求,并放宽了对系统的假设。使用我们的框架,大多数已知的输出反馈表单系统类别都在多个方向上扩展:未测量的状态和未知参数可能会非线性出现,限制性匹配和增长假设被消除,动态不确定性满足Sontag积分输入的较弱条件状态稳定度和高频增益的迹象可能是未知的。提出了一种建设性的策略来设计动态输出反馈控制律,该律将状态驱动到原点,同时使所有其他闭环信号保持有界。

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