Stabilization Control for Stochastic High-order Fully-actuated Systems with Persistent Disturbances

被引：3
作者：
Liu, Xueqing [1 ]
Chen, Maoyin [1 ]
Li, Sheng [2 ]
Zhou, Donghua [1 ,3 ]
机构：
[1] Tsinghua Univ, Dept Automat, Beijing 100084, Peoples R China
[2] China Univ Petr East China, Coll Control Sci & Engn, Qingdao 266590, Peoples R China
[3] Shandong Univ Sci & Technol, Coll Elect Engn & Automat, Qingdao 266590, Peoples R China
来源：
2023 2ND CONFERENCE ON FULLY ACTUATED SYSTEM THEORY AND APPLICATIONS, CFASTA | 2023年
基金：
中国国家自然科学基金;
关键词：
High-order fully-actuated systems; stabilization control; probabilistic ultimate bounds; persistent disturbances; PREDICTIVE CONTROL;
D O I：
10.1109/CFASTA57821.2023.10243323
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Following the high-order fully actuated (HOFA) systems proposed by Prof. GR Duan, stochastic high-order fully actuated (SHOFA) systems were also developed to consider the stochastic disturbances. However, existing studies require that disturbances disappear at the equilibrium point, which limits the applicability of the method. This paper proposes a novel control scheme to stabilize the SHOFA systems with persistent disturbances. The characterization of SHOFA systems is analyzed utilizing the concepts of probabilistic ultimate bounds and probabilistic invariant sets. Therefore, the quantitative control indices in probability are available under general probability distributions. Finally, the effectiveness of the proposed control strategy is verified in the simulation.
引用
收藏
页码：31 / 36
页数：6
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