针对一种欠驱动基准系统,具有旋转激励的平移振荡器(translation oscillators with rotating actuator,TORA)系统,本文首次提出了一种具有约束的控制方法.该方法不仅可以保证闭环系统的稳定性,而且能够保证旋转小球在预设的范围内转动....针对一种欠驱动基准系统,具有旋转激励的平移振荡器(translation oscillators with rotating actuator,TORA)系统,本文首次提出了一种具有约束的控制方法.该方法不仅可以保证闭环系统的稳定性,而且能够保证旋转小球在预设的范围内转动.相比已有控制方法,本文所提方法可以预设小球的转动范围以避免不理想的"循环"行为.具体而言,首先对系统的总机械能进行了详细分析;随后在其总机械能的基础上通过能量整形构造出一个新颖的能量函数;最后基于所构造的能量函数提出了一种具有约束的控制器,采用Lyapunov方法及La Salle不变性原理证明了相应闭环系统的稳定性.通过与已有方法进行仿真对比可知,本文方法在镇定控制与约束控制方面均表现出良好的控制性能.展开更多
This paper studies a class of nonlinear singular systems with discontinuous right-hand sides,it develops nonsmooth Lyapunov stability theory as well as LaSalle invariance principle.In this paper,LaSalle invariance pri...This paper studies a class of nonlinear singular systems with discontinuous right-hand sides,it develops nonsmooth Lyapunov stability theory as well as LaSalle invariance principle.In this paper,LaSalle invariance principle of the discontinuous nonlinear singular systems is presented firstly.Furthermore,some sufficient conditions for stability and asymptotic stability of the given systems based on Filippov differential inclusion and Clarke's generalized gradient are given.Finally,these results are illustrated by the given example.展开更多
基金Supported by the National Natural Science Foundation of China(1137136811071254)+1 种基金the Natural Science Foundation of Hebei Province(A2014506015)the Natural Science Foundation of Young Scientist of Hebei Province(A2013506012)
基金supported by the National Natural Science Fundation of China under Grant No.60874006
文摘This paper studies a class of nonlinear singular systems with discontinuous right-hand sides,it develops nonsmooth Lyapunov stability theory as well as LaSalle invariance principle.In this paper,LaSalle invariance principle of the discontinuous nonlinear singular systems is presented firstly.Furthermore,some sufficient conditions for stability and asymptotic stability of the given systems based on Filippov differential inclusion and Clarke's generalized gradient are given.Finally,these results are illustrated by the given example.