控制理论(社会学)
非线性系统
凸优化
线性化
数学
反馈线性化
线性矩阵不等式
线性系统
控制器(灌溉)
非线性控制
数学优化
正多边形
计算机科学
控制(管理)
数学分析
物理
几何学
量子力学
人工智能
农学
生物
作者
Thomas Gußner,Michael Jost,Jürgen Adamy
标识
DOI:10.1016/j.sysconle.2011.11.003
摘要
In this paper, we propose a new design strategy for nonlinear systems with input saturation. The resulting nonlinear controllers are locally asymptotically stabilizing the origin. The proposed methodology is based on exact feedback linearization which is used to reformulate the nonlinear system as a linear system having state-dependent input saturation. Linear saturating state feedback controllers and soft variable-structure controllers are developed based on this system formulation. The resulting convex optimization problems can be written in terms of linear matrix inequalities and sum of squares conditions for which efficient solvers exist. Polynomial approximation based on Legendre polynomials is used to extend the methodology to a more general class of nonlinear systems. To demonstrate the benefit of this design method, a stabilizing controller for a single link manipulator with flexible joint is developed.
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