当前位置: X-MOL 学术Syst. Control Lett. › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
Design of global smooth implicit control Lyapunov function for multiple-integrator system with input constraint
Systems & Control Letters ( IF 2.6 ) Pub Date : 2020-11-01 , DOI: 10.1016/j.sysconle.2020.104776
Yuh Yamashita , Naoto Adachi , Ryo Nonaka , Koichi Kobayashi

Abstract In this study, we propose a new method to design a smooth implicit control Lyapunov function and a smooth control law for a multi-integrator system with an input constraint. The proposed controller is almost linear near the origin, and it tends to a homogeneous controller of the previous implicit Lyapunov function methods as the state goes to infinity. The proposed method can be used for the backstepping method with a restricted virtual input, which is a nonlinear function of the state, and the desired virtual input is designed as a bounded function. Furthermore, we apply our method to the control of a magnetic levitation system, and a simulation result presents the advantage of the proposed method.

中文翻译:

带输入约束的多积分系统全局平滑隐式控制Lyapunov函数设计

摘要 在这项研究中,我们提出了一种新方法来设计具有输入约束的多积分器系统的平滑隐式控制Lyapunov函数和平滑控制律。所提出的控制器在原点附近几乎是线性的,并且随着状态趋于无穷大,它趋向于先前隐式李雅普诺夫函数方法的齐次控制器。所提出的方法可用于具有受限虚拟输入的反步法,该虚拟输入是状态的非线性函数,并且期望的虚拟输入被设计为有界函数。此外,我们将我们的方法应用于磁悬浮系统的控制,仿真结果展示了该方法的优点。
更新日期:2020-11-01
down
wechat
bug