CAJ | 학술논문

基于正切线性化控制技术和状态依赖Riccati微分方程方法,提出了一种新的非线性控制器综合策略.受正切线性化控制的启发,首先,将一类非线性系统的非线性反馈镇定问题转化为状态依赖线性时变系统的反馈镇定器设计问题.然后,给出了求解导出线性时变系统反馈镇定器设计问题的一种基于状态依赖Riccati微分方程方法.为实现该控制器的求解,仅需实时求解给定正定初始条件下的状态依赖Riccati微分方程.此外,本文所得到的解析结果还能保证非线性闭环反馈系统的指数渐近稳定性.最后,用一个数值算例验证了本文给出方法的有效性.
기우정절선성화공제기술화상태의뢰Riccati미분방정방법,제출료일충신적비선성공제기종합책략.수정절선성화공제적계발,수선,장일류비선성계통적비선성반궤진정문제전화위상태의뢰선성시변계통적반궤진정기설계문제.연후,급출료구해도출선성시변계통반궤진정기설계문제적일충기우상태의뢰Riccati미분방정방법.위실현해공제기적구해,부수실시구해급정정정초시조건하적상태의뢰Riccati미분방정.차외,본문소득도적해석결과환능보증비선성폐배반궤계통적지수점근은정성.최후,용일개수치산례험증료본문급출방법적유효성.
A new approach to nonlinear controller synthesis is proposed using tangent linearization control and state-dependent Riccati differential equation.Motivated by tangent linearization control,the nonlinear feedback stabilization problem for nonlinear systems is first reduced to that of a feedback stabilizing controller design for linear time-varying statedependent systems.Then,a state-dependent Riccati differential equation based approach is presented to design of state-feedback controller of the deduced linear time-varying system.To implement such a controller,only a state-dependent Riccati differential equation with given positive definite initial condition need to be solved online.Moreover,it is shown analytically that the closed-loop system under the proposed nonlinear feedback is exponentially asymptotically stable.Finally,a numerical example shows the effectiveness of the proposed approach.