【摘要】 在对非线性控制系统x=Ax+f(x)+Bu+G(x)u的镇定性研究中,通过反馈精确线性化及零动态方法确实带来一些方便,但常要求系统满足可控性秩条件或要求其零动态具有渐近稳定性。该文将系统分解2个子系统,即x1=A1x1+B1u+f1(x1,x2)+G1(x1,x2)u和x2=A2x2+f2(x1,x2)+G2(x1,x2)u。其中,第一个系统是可控的,而第二个系统则可直接构造反馈控制律u(x),使其闭环系统x=Ax+f(x)+(B+G(x))u(x)在x=0处渐近稳定。更多还原

【Abstract】 In studying the stabilization of the nonlinear control system =Ax+f(x)+Bu+G(x)u,the exact linearization via feedback and the zero dynamic approach are really convenient. However,it is required that either the system satisfy the controllability rank condition or its zero dynamic be asymptotically stable. In this paper, the system is resolved into two subsystems 1=A1x1+B1u+f1(x1,x2)+G1(x1,x2)u and 2=A2x2+f2(x1,x2)+G2(x1,x2)u. The first system is controllable. As for the second system,when the feedback control law u(x) is given,the closed loop system =Ax+f(x)+(B+G(x))u(x) shows asymptotical equilibrium at x=0.更多还原