【摘要】 利用微分几何方法研究了一类非线性多输入多输出时滞系统的解耦问题.讨论了此类系统可解耦的充分条件,并给出了此类系统实现输入/输出间精确线性化的条件以及其标准形.文中给出了非线性时滞系统得以解耦的非线性状态反馈控制律;此状态控制律不但可以实现输出与时滞状态变量的解耦,还可以实现输出与输入间的精确线性化.而其闭环标准形的给出为此类系统实现各种控制目标带来了方便.*更多还原

【Abstract】 The decoupling problem for a class of nonlinear MIMO time-delay systems is studied with differential geometric method.The sufficient conditions that enable the system to be decoupled are discussed,and the input-output linearization conditions with the canonical form of this nonlinear time-delay system are presented.A nonlinear state feedback control law is designed to decouple the output from the delayed state variables and realize precise (linearization) between the output and input channels.Canonical form of the closed loop is given as well,which helps to realize further control aims conveniently.更多还原