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A High-Order Fully Actuated System Approach for a Class of Nonlinear Systems

Journal of Systems Science & Complexity 2022年第2期35卷 714-730页

作者： GU Dake WANG Shuo School of Automation Engineering Northeast Electric Power UniversityJilin 132012China

This paper utilizes the high-order fully actuated(HOFA)system approach to synthesize a class of nonlinear ***,the original nonlinear system can be rewritten in a quasi-linear form,which is more general than other nonlinear systems,such as strict-feedback *** on a rank condition,the quasi-linear system can be transformed into a canonical ***,a simple transformation is adopted to convert the above canonical form into the HOFA *** an HOFA model is derived,the authors design a controller to make the closed-loop system a constant linear system with the desired ***,a numerical example illustrates the fitness and effectiveness of the proposed approach.

关键词： Canonical form closed-loop eigenstructure full-actuation high-order systems quasilinear systems

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High-order fully actuated system approaches: Part I. Models and basic procedure

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2021年第2期52卷 422-435页

作者： Duan, Guangren Harbin Inst Technol Ctr Control Theory & Guidance Technol Harbin Peoples R China

The state-space approaches have stayed in an absolutely dominant position in the field of systems and control for over a half century. Although a state-space representation is more suitable for deriving the state-response solution and observation (estimation), it does not provide as much convenience as desired for the control problem. In this paper, the concept of high-order fully actuated (HOFA) systems is firstly revisited, and it is pointed out that HOFA systems serve really as models for control systems rather than representing a small portion of physical control systems. Based on the HOFA model, a basic procedure is proposed for control of nonlinear systems satisfying certain conditions, whose first step converts the nonlinear systems into a pseudo strict-feedback system, and the second step establishes the HOFA model of the system. Once an HOFA model is derived, a controller can be immediately designed to make the closed-loop system a constant linear one with a desired eigenstructure. All the design degrees of freedom existing in the closed-loop system are also provided, which can be further utilised to achieve additional system performance. An example demonstrates the design procedure and shows the effect of the proposed HOFA approach.

关键词： Nonlinear control full-actuation high-order systems strict-feedback systems closed-loop eigenstructure

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