Integrator forwarding: A new recursive nonlinear robust design

被引：118

作者：

Sepulchre, R

Jankovic, M

Kokotovic, PV

机构：

[1] FORD MOTOR CO, SCI RES LABS, DEARBORN, MI 48121 USA

[2] UNIV CALIF SANTA BARBARA, DEPT ELECT & COMP ENGN, CTR CONTROL ENGN & COMPUTAT, SANTA BARBARA, CA 93106 USA

来源：

AUTOMATICA | 1997年 / 33卷 / 05期

关键词：

nonlinear systems; global stabilization; design methods; feedforward systems;

D O I：

10.1016/S0005-1098(96)00249-X

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We consider the global stabilization of nonlinear systems in strict feedforward form. We show that these systems, while not feedback linearizable, can be (globally) transformed by feedback and diffeomorphism into lower-triangular form. The transformation is explicit and recursive. We employ this transformation to design a globally stabilizing controller with optimality properties and an input-to-state stability property with respect to matched uncertainties. (C) 1997 Elsevier Science Ltd.

引用

页码：979 / 984

页数：6

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