A GEOMETRIC APPROACH TO NONLINEAR SINGULARLY PERTURBED CONTROL-SYSTEMS

被引：71

作者：

MARINO, R ^{[1
]}

KOKOTOVIC, PV ^{[1
]}

机构：

[1] UNIV ILLINOIS,COORDINATED SCI LAB,URBANA,IL 61801

来源：

AUTOMATICA | 1988年 / 24卷 / 01期

关键词：

AIRCRAFT - Control - MATHEMATICAL TECHNIQUES - Perturbation Techniques - ROBOTS; INDUSTRIAL; -; Manipulators;

D O I：

10.1016/0005-1098(88)90005-2

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Applications of two-time-scale singular perturbation methods have been limited to the class of models appearing in a 'standard form'. Many nonlinear control systems, such as models of aircraft and robotic manipulators with flexible joints, are two-time-scale systems, but do not appear in the standard form. The main result of this paper is a coordinate-free characterization of time-scales in terms of invariant manifolds which express conservation and equilibrium properties of the control system. A procedure for finding slow and fast states is given. Previously developed slow-fast composite control designs are thus made applicable to a wider class of nonlinear systems.

引用

页码：31 / 41

页数：11

共 15 条

[1] SOLUTION OF MINIMUM TIME-TO-CLIMB PROBLEM BY MATCHED ASYMPTOTIC EXPANSIONS [J].