论文部分内容阅读
基于奇异摄动理论结合动态逆设计的控制方法,研究了一类非仿射非线性系统的渐近稳定问题。通过将控制律定义为一个快动态系统的解,使原系统的状态能够准确地跟踪参考系统,且跟踪误差为零。同时给出了系统吸引区内的一个正不变子集,并证明了系统状态能够在有限时间内进入该子集,最终实现渐进稳定。用该方法构造的控制器实现起来较为简单,仿真结果表明了理论方法的有效性。
Based on the singular perturbation theory and the control method of dynamic inverse design, the asymptotic stability of a class of non-affine nonlinear systems is studied. By defining the control law as a solution to a fast dynamic system, the state of the original system can be accurately tracked by the reference system with zero tracking error. At the same time, a positive invariant subset of the system is given, and it is proved that the state of the system can enter the subset in a finite time and finally achieve asymptotic stability. The controller constructed by this method is relatively simple to implement, and the simulation results show the effectiveness of the theoretical method.