Dynamic inversion for multivariable non-affine-in-control systems via time-scale separation

被引：24

作者：

Hovakimyan, Naira ^{[1
]}

Lavretsky, Eugene ^{[2
]}

Cao, Chengyu ^{[3
]}

机构：

[1] Univ Illinois, Dept Mech Sci & Engn, Urbana, IL 61801 USA

[2] Boeing Co, Huntington Beach, CA USA

[3] Univ Connecticut, Dept Mech Engn, Storrs, CT USA

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2008年 / 81卷 / 12期

关键词：

dynamic inversion; nonlinear control; time-scale separation;

D O I：

10.1080/00207170801961295

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a tracking design methodology applicable to multivariable non-affine-in-control systems. The main focus is on solving the tracking problem for non-linear systems whose dynamics depend non-linearly on the control input. The latter is designed to be faster than the main system dynamics. Using singular perturbation theory along with the Lyapunov stability theorems, it is shown that the proposed controller approximates an unknown dynamic inversion based solution with bounded errors, provides closed-loop stability, and solves the tracking problem with bounded errors. Simulations illustrate the theoretical results.

引用

页码：1960 / 1967

页数：8

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