TY - GEN
T1 - Direct parametric control of fully-actuated high-order nonlinear systems - Normal case
AU - Duan, Guang Ren
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2015/3/2
Y1 - 2015/3/2
N2 - Full-actuation of a dynamical system really provides great potential for system control, and yet this potential is seldom utilized or even recognized. In this paper, the direct parametric approach for fully-actuated second-order nonlinear systems recently proposed is generalized to the case of fully-actuated high-order nonlinear systems. It is revealed that, with this proposed direct parametric approach, a fully-actuated system, no matter linear or nonlinear, can actually be turned into a constant linear system with desire eigenstructure by a state proportional plus derivative feedback controllers, and a general complete parametric expression for all such controllers are established based on the solution to a type high-order Sylvester matrix equations. What is more, in such a realization the approach also provides all the degrees of freedom which may be further utilized to improve the system performance.
AB - Full-actuation of a dynamical system really provides great potential for system control, and yet this potential is seldom utilized or even recognized. In this paper, the direct parametric approach for fully-actuated second-order nonlinear systems recently proposed is generalized to the case of fully-actuated high-order nonlinear systems. It is revealed that, with this proposed direct parametric approach, a fully-actuated system, no matter linear or nonlinear, can actually be turned into a constant linear system with desire eigenstructure by a state proportional plus derivative feedback controllers, and a general complete parametric expression for all such controllers are established based on the solution to a type high-order Sylvester matrix equations. What is more, in such a realization the approach also provides all the degrees of freedom which may be further utilized to improve the system performance.
KW - Degree of freedom
KW - Direct parametric approach
KW - Eigenstructure
KW - Fully-actuated high-order systems
KW - Nonlinear systems
UR - https://www.scopus.com/pages/publications/84932133657
U2 - 10.1109/WCICA.2014.7053216
DO - 10.1109/WCICA.2014.7053216
M3 - 会议稿件
AN - SCOPUS:84932133657
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 3053
EP - 3060
BT - Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
Y2 - 29 June 2014 through 4 July 2014
ER -