GLOBAL STABILIZATION AND RESTRICTED TRACKING FOR MULTIPLE INTEGRATORS WITH BOUNDED CONTROLS

被引：645

作者：

TEEL, AR ^{[1
]}

机构：

[1] UNIV CALIF BERKELEY,DEPT ELECT ENGN & COMP SCI,BERKELEY,CA 94720

来源：

SYSTEMS & CONTROL LETTERS | 1992年 / 18卷 / 03期

基金：

美国国家航空航天局;

关键词：

CHAIN OF INTEGRATORS; BOUNDED CONTROLS; SATURATION; GLOBAL STABILIZATION; TRACKING;

D O I：

10.1016/0167-6911(92)90001-9

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Necessary and sufficient conditions for globally stabilizing linear systems with bounded controls are known. However, it has been shown in [5] that, for single-input systems, no saturation of a linear feedback can globally stabilize a chain of integrators of order n, with n greater-than-or-equal-to 3. In this paper, we propose a nonlinear combination of saturation functions of linear feedbacks that globally stabilizes a chain of integrators of arbitrary order. The appealing feature of the proposed control is that it is fairly easy to construct. It is linear near the origin and can also be used to achieve trajectory tracking for a class of trajectories restricted by the absolute on the input.

引用

页码：165 / 171

页数：7