| 引用本文: | 蔡秀珊, 汪晓东, 吕干云.具有零动态仿射非线性系统控制Lyapunov函数的构造[J].控制理论与应用,2007,24(3):391~395.[点击复制] |
| CAI Xiu-shan, WANG Xiao-dong, LV Gan-yun.Constructive control Lyapunov functions for affine nonlinear systems with zero dynamics[J].Control Theory and Technology,2007,24(3):391~395.[点击复制] |
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| 具有零动态仿射非线性系统控制Lyapunov函数的构造 |
| Constructive control Lyapunov functions for affine nonlinear systems with zero dynamics |
| 摘要点击 2736 全文点击 1823 投稿时间：2005-08-05 修订日期：2006-02-23 |
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| DOI编号 |
| 2007,24(3):391-395 |
| 中文关键词 非线性系统 控制Lyapunov函数 半全局镇定 零动态 |
| 英文关键词 nonlinear systems control Lyapunov functions semiglobal stabilization zero dynamics |
| 基金项目 浙江省自然科学基金资助项目(Y105141); 浙江省教育厅科研基金资助项目(20050291); 浙江师范大学国家基金预研资助项目(2005gjjj021) |
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| 中文摘要 |
| 研究具有零动态仿射非线性系统控制Lyapunov函数的构造问题. 提出通过求解一个Lyapunov方程获得可线性化部分的二次型控制Lyapunov函数. 由可线性部分的控制Lyapunov函数和零动态部分的Lyapunov函数, 通过构造一个正定函数, 得到了整个系统的控制Lyapunov函数, 且设计了可半全局镇定整个闭环系统的控制律. 仿真实例说明了所提出方法的有效性. |
| 英文摘要 |
| The construction of control Lyapunov functions for affine nonlinear systems with zero dynamics is considered in this paper. A method is developed to ensure that a control Lyapunov function for the feedback linearizable part can be obtained by solving a Lyapunov equation. Using the control Lyapunov function of the feedback linearizable part and a Lyapunov function of the zero dynamics, a control Lyapunov function for the overall nonlinear system is then established by constructing a definite function. A state feedback is also designed to semiglobally stabilize the closed-loop system. Finally, a simulation example is given to illustrate the effectiveness of the design. |