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.
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.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2007年第3期391-395,共5页
Control Theory & Applications
基金
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).
