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首页> 外文期刊>IEEE Transactions on Control Systems Technology >Design of a Class of Nonlinear Controllers via State Dependent Riccati Equations
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Design of a Class of Nonlinear Controllers via State Dependent Riccati Equations

机译:基于状态相关的Riccati方程设计一类非线性控制器

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摘要

In this brief, infinite-horizon nonlinear regulation of second-order systems using the State Dependent Riccati Equation (SDRE) method is considered. By a convenient parametrization of the A (x) matrix, the state-dependent algebraic Riccati equation is solved analytically. As a result, the closed-loop system equations are obtained in analytical form. Global stability analysis is performed by a combination of Lyapunov analysis and LaSalle's Principle. Accordingly, a relatively straightforward condition for global asymptotic stability of the closed-loop system is derived. This is one of the first global results available for this class of systems controlled by SDRE methods. The stability results are demonstrated on an experimental magnetic levitation setup and are found to provide a great deal of flexibility in the control system design.
机译:在本文中,考虑了使用状态相关Riccati方程(SDRE)方法对二阶系统进行无限水平非线性调节。通过对A(x)矩阵进行方便的参数化,可以解析求解状态依赖的代数Riccati方程。结果,以解析形式获得了闭环系统方程。全局稳定性分析是通过结合Lyapunov分析和LaSalle原理进行的。因此,得出了闭环系统全局渐近稳定性的相对直接条件。这是可用于SDRE方法控制的此类系统的第一个全局结果。稳定性结果在实验性磁悬浮装置上得到了证明,并在控制系统设计中提供了很大的灵活性。

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