一类时滞非线性控制系统的输出调节

摘要

Output regulation problems for nonlinear control systems withtime delay is discussed. First,diffeomorphic coordinateion transformation is introduced to transform this system into the system that consists of a linear system with time delay and a nonlinear exosystem.A state integral transformation is then introduced to transformate this system into the system without delay.To discuss the problems of a disturbed linear system to track a nonlinear system we defined the solvability of output regulation. It is shown that if the exosystem is solvable and the conditions of exact linearization are satisfied then the output regulation problem for nonlinear systems with time delay is solvable.%研究了一类单输入时滞非线性系统的输出调节问题，首先通过精确线性化方法将其转化为一类特殊线性时滞系统对非线性系统的跟踪问题，然后通过积分变换转化为无时滞的线性系统对非线性系统的跟踪，新的精确线性化结果保证了经过积分变换后的系统仍然可控.同时，提出可解性的概念解决了线性系统对非线性系统的跟踪问题，得到了时滞非线性系统输出调节问题的局部和全局的结果，该结果对外部系统假设较弱.