【摘要】 针对带有高阶非线性项的四阶积分器链，在输入包含时滞的情形下，提出了一种嵌套饱和控制器，实现系统的全局渐进稳定。稳定分析分为饱和退化分析和退饱和系统的渐进稳定分析两个阶段。该控制器利用平面转换构造标准型，进行自然对消，完成饱和退化分析；然后，利用一个重要矩阵不等式和李雅普诺夫定理，完成渐进稳定分析；最后，通过一个惯性摆系统的仿真实验，验证了控制器的有效性。更多还原

【Abstract】 In view of a fourth-order integrator chain with higher-order nonlinear terms, a nested saturation controller is proposed for a realization of the global asymptotic stability of the system with an input time delay. The stability analysis can be divided into two stages: saturation degradation analysis and asymptotic stability analysis of desaturated systems. The controller uses planar transformation to construct a standard type, followed by a natural cancellation, thus completing the saturation degradation analysis. Then, an important matrix inequality and Lyapunov theorem are used to complete the asymptotic stability analysis. Finally, the effectiveness of the controller is verified by a simulation experiment of an inertial pendulum system.更多还原