| 引用本文: | 张 健,李春光,徐红兵.一种新的多输入非线性控制系统线性化的计算方法[J].控制理论与应用,2009,26(5):487~493.[点击复制] |
| ZHANG Jian,LI Chun-guang,XU Hong-bing.A new algorithm for computing the linearization of multiple-input nonlinear control systems[J].Control Theory and Technology,2009,26(5):487~493.[点击复制] |
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| 一种新的多输入非线性控制系统线性化的计算方法 |
| A new algorithm for computing the linearization of multiple-input nonlinear control systems |
| 摘要点击 1670 全文点击 1072 投稿时间：2008-03-25 修订日期：2008-09-01 |
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| DOI编号 10.7641/j.issn.1000-8152.2009.5.004 |
| 2009,26(5):487-493 |
| 中文关键词 逼近线性化 多输入 非线性控制系统 |
| 英文关键词 approximate linearization muti-input nonlinear control systems |
| 基金项目 国家自然科学基金资助项目(60502009, 60804015). |
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| 中文摘要 |
| 通常, 即使对于一个可逼近反馈线性化的非线性系统, 求得一个所需的坐标变换和反馈仍然是困难的, 原因在于需要求解一组偏微分方程. 在本文中, 为了求得逼近反馈线性化所需的非线性反馈及坐标变换, 首先引入了一个扩展的坐标空间, 针对一类线性可控的多输入非线性系统, 推导了系统新的矩阵表达式. 然后, 提出了一种新的有效的构造化算法, 它降低了计算所需的运算量. 最后通过一个例子介绍了本方法的应用. |
| 英文摘要 |
| In practice, it is difficult to determine a coordinate transformation and a feedback for the linear approximation of a nonlinear system, even though the system is approximately feedback-linearizable. The reason is that it is necessary to solve a set of partial differential equations. An extended coordinate space is firstly introduced. A new matrix presentation is then presented for a general form of linearly controllable multiple-input nonlinear systems. Based on these preparations, we develop an effective constructive algorithm procedure with reduced computation for obtaining a coordinate transformation and the feedback. Finally a dynamic feedback-linearizable system is given as an example to illustrate the application. |
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