摘要
针对一类增益函数存在奇异值的严反馈系统,提出了一种亚严反馈系统(sub-SFS)镇定的全驱系统(FAS)方法。首先,给出了亚严反馈系统的定义,并定义了这一类系统的可行集和奇异集。然后,揭示了亚严反馈系统可以在一定条件下通过模型变换转化为高阶的亚全驱系统,并利用全驱系统亚稳定性和亚镇定性的概念精确地描述了相应的吸引区。进一步,根据全驱系统的控制特性,可以极其容易地求得亚严反馈系统镇定的显式化控制律,得到线性定常的闭环控制系统。该方法不仅极大地降低了控制器设计的复杂性,解决了计算膨胀的问题,而且还可以利用可行性条件,有效地避免控制器奇异值问题。最后,进行了稳定性分析和案例仿真,其结果验证了本文所提控制方法的有效性。
This paper proposes a substabilization control method for a class of strict feedback systems with singular value gain functions based on Fully Actuated System(FAS)approach.Firstly,the definition of sub-Strict Feedback System(sub-SFS),including the feasible set and singular set of this system,is given.Then,it is revealed that the sub-SFS can be transformed into a sub-FAS with high order by model transformation under certain conditions,and the corresponding attraction region is described precisely based on the concepts of substability and substabilization of FAS.Furthermore,by using the control characteristics of FAS,the stabilization control law of the sub-SFS can be ex⁃plicitly solved in a very simple way,and the linear constant closed-loop control system is obtained.The proposed ap⁃proach not only greatly reduces the design complexity,but also effectively avoids the controller singularity problem by using the feasibility conditions.Finally,theoretical stability analysis and numerical simulation are conducted to illustrate the effectiveness of the proposed approach.
作者
段广仁
DUAN Guangren(Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin 150001,China;Shenzhen Key Laboratory of Control Theory and Intelligent Systems,Southern University of Science and Technology,Shenzhen 518055,China)
出处
《航空学报》
EI
CAS
CSCD
北大核心
2024年第1期1-12,共12页
Acta Aeronautica et Astronautica Sinica
基金
深圳市控制理论与智能系统重点实验(ZDSYS20220330161800001)
国家自然科学基金委基础科学中心项目(62188101)
国家自然科学基金委重点项目(61333003)。
关键词
亚严反馈系统
全驱系统方法
亚稳定
亚镇定
奇异值
sub-strict feedback system
fully-actuated system approach
substability
substabilization
singular value
