A gain-tuning method for almost disturbance decoupling problems of nonlinear systems with zero dynamics

被引：4
|
作者：
Liu, Xiaoping [1 ]
Wang, Zhengqi [1 ]
Wang, Wilson [2 ]
机构：
[1] Lakehead Univ, Elect & Comp Engn, Thunder Bay, ON, Canada
[2] Lakehead Univ, Mech Engn, Thunder Bay, ON, Canada
来源：
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2022年 / 32卷 / 07期
基金：
加拿大自然科学与工程研究理事会;
关键词：
almost disturbance decoupling; nonlinear control; robust control; GLOBAL ASYMPTOTIC STABILITY; H-INFINITY; TIME; ATTENUATION; SUBJECT;
D O I：
10.1002/rnc.6031
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a gain-tuning method for almost disturbance decoupling problems of nonlinear systems with zero dynamics is developed. Firstly, a linear subsystem is formed by linearizing the nonlinear system. Then, a linear matrix inequality can be formed for the linear subsystem. After that, a linear state-feedback controller can be obtained by solving the linear matrix inequality. A nonlinear state-feedback controller can be obtained for the original nonlinear system by using backstepping design method. Another linear state-feedback controller can be derived by linearizing the nonlinear state-feedback controller. Finally, the backstepping gains can be solved by equating the two linear controllers. The detailed derivations of the method are provided. Some comparisons with the existing techniques are discussed. Moreover, the designed method is verified by simulations and some comparisons are made accordingly.
引用
收藏
页码：4459 / 4476
页数：18
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