In this paper,the problem of stabilization is considered for discrete-time multiple-input nonlinear systems with distinct input delays law based on the fully actuated system approach.In order to compensate the input d...In this paper,the problem of stabilization is considered for discrete-time multiple-input nonlinear systems with distinct input delays law based on the fully actuated system approach.In order to compensate the input delays,a prediction scheme is presented to predict future states based on the closed-loop linear system.Then,a stabilizing law is constructed for nonlinear delayed systems by replacing the future states in the control law for the corresponding delay-free systems with their prediction.Finally,numerical examples are given to verify the effectiveness of the proposed approach.展开更多
Since 1960s,the first-order state space approach has been dominant in analysis and design of control systems.In a state-space model of a dynamical system,the state variable is emphasized.Therefore,some problems releva...Since 1960s,the first-order state space approach has been dominant in analysis and design of control systems.In a state-space model of a dynamical system,the state variable is emphasized.Therefore,some problems relevant to state estimation and the seeking of state solution can be conveniently solved.However,the control variable is the core in the design of controllers.展开更多
基金This work was supported by the Science Center Program of National Natural Science Foundation of China under Grant No.62188101,HIT Wuhu Robot Technology Research Institute,the National Natural Science Foundation of China under Grant No.62173112Guangdong Natural Science Foundation under Grant No.2019A1515011576Shenzhen Science and Technology Program under Project No.JCYJ20210324132413034.
文摘In this paper,the problem of stabilization is considered for discrete-time multiple-input nonlinear systems with distinct input delays law based on the fully actuated system approach.In order to compensate the input delays,a prediction scheme is presented to predict future states based on the closed-loop linear system.Then,a stabilizing law is constructed for nonlinear delayed systems by replacing the future states in the control law for the corresponding delay-free systems with their prediction.Finally,numerical examples are given to verify the effectiveness of the proposed approach.
文摘Since 1960s,the first-order state space approach has been dominant in analysis and design of control systems.In a state-space model of a dynamical system,the state variable is emphasized.Therefore,some problems relevant to state estimation and the seeking of state solution can be conveniently solved.However,the control variable is the core in the design of controllers.
