Detail Piecewise Smooth Switching Control Algorithms for Chained Systems   Oleh:  Liu, Kang-Zhi Jenis: Article from Article Dalam koleksi: Final Program and Book of Abstracts: The 4th Asian Control Conference, September 25-27, 2002 (Sep. 2002), page 1604-1069. Topik: Switching Control; Algorithms; Chained Systems Fulltext: AC021315.PDF (140.07KB) Isi artikel In this paper, an extremely simple control approach is proposed for the multi-chain systems. This method is based on a switching of two sets of control laws. Each law is given by a product of the generator and a time-invariant linear function of the states. Global exponential convergence of all states is guaranteed. More importantly, the convergence rate is given explicitly. A remarkable feature of the proposed approach is that in each phase of the switching control, the ratio of state convergency is an exponential function of the displacement of the state driven by the generator. For the design of each control law, two methods are proposed. One is based on the recursive Lyapunov design, another is a direct method based on the use of Riccati equations which can be interpreted as obtained from the minimization of a quadratic index. Extension of this approach to a class of driftless systems is also discussed. Opini Anda Klik untuk menuliskan opini Anda tentang koleksi ini! Kembali

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