On the inversion of a class of nonlinear systems

被引：2
|
作者：
Boutat, Driss [1 ]
Barbot, Jean-Pierre [2 ]
Darouach, Mohamed [3 ]
机构：
[1] Univ Orleans, INSA Ctr Val de Loire, F-18020 Bourges, France
[2] ENSEA, ECS Lab, EA 3649, Quartz,IPGP, F-95014 Cergy Pontoise, France
[3] Univ Lorraine, Ctr Rech Automat Nancy, IUT Longwy, CNRS,UMR 7039, F-54400 Cosnes Et Romains, France
来源：
SYSTEMS & CONTROL LETTERS | 2015年 / 83卷
关键词：
Left invertibility; Inverse dynamics; Differential geometry; RIGHT-INVERTIBILITY; LINEAR SYSTEMS;
D O I：
10.1016/j.sysconle.2015.06.007
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper deals with the inversion problem of affine square multi-input multi-output (MIMO) nonlinear systems. It presents a new algorithm unifying the construction of the inverse of a dynamical system with a regular or a singular characteristic matrix. This algorithm is based on the determination of a projector on the fibre bundle of the state space and incorporates a regularization of the singular case. It has the advantage of avoiding the input derivatives. Numerical examples are given to illustrate the proposed approach. (C) 2015 Elsevier B.V. All rights reserved.
引用
收藏
页码：38 / 44
页数：7
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