Global normal forms for MIMO nonlinear systems, with applications to stabilization and disturbance attenuation

被引：44

作者：

Schwartz, B ^{[1
]}

Isidori, A

Tarn, TJ

机构：

[1] Washington Univ, Dept Syst Sci & Math, St Louis, MO 63130 USA

[2] Univ Roma La Sapienza, Dipartimento Informat & Sistemist, I-00184 Rome, Italy

来源：

MATHEMATICS OF CONTROL SIGNALS AND SYSTEMS | 1999年 / 12卷 / 02期

关键词：

MIMO nonlinear systems; global normal forms; backstepping method; global stabilization; disturbance attenuation;

D O I：

10.1007/PL00009847

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A geometric characterization of a class of square invertible nonlinear systems that can be molded into a normal form by a global diffeomorphism is detailed. Then additional conditions are fashioned that permit the implementation of the recursive design method known as "backstepping."

引用

页码：121 / 142

页数：22

共 13 条

[1]

[Anonymous], 2013, Nonlinear control systems

[2] ASYMPTOTIC STABILIZATION OF MINIMUM PHASE NONLINEAR-SYSTEMS [J].

BYRNES, CI ;

ISIDORI, A .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1991, 36 (10) :1122-1137

[3] A note on almost disturbance decoupling for nonlinear minimum phase systems [J].

Isidori, A .

SYSTEMS & CONTROL LETTERS, 1996, 27 (03) :191-194

[4]

ISIDORI A, 1995, P 3 IFAC S NONL CONT, P91

[5]

Kristic M., 1995, Nonlinear and Adaptive Control Design

[6] NONLINEAR H-INFINITY ALMOST DISTURBANCE DECOUPLING [J].

MARINO, R ;

RESPONDEK, W ;

VANDERSCHAFT, AJ ;

TOMEI, P .

SYSTEMS & CONTROL LETTERS, 1994, 23 (03) :159-168

[7] SPECIAL COORDINATE BASIS FOR MULTIVARIABLE LINEAR-SYSTEMS - FINITE AND INFINITE ZERO STRUCTURE, SQUARING DOWN AND DECOUPLING [J].

SANNUTI, P ;

SABERI, A .

INTERNATIONAL JOURNAL OF CONTROL, 1987, 45 (05) :1655-1704

[8]

Schwartz B, 1996, IEEE DECIS CONTR P, P227, DOI 10.1109/CDC.1996.574301

[9]

Sepulchre R., 1997, Constructive Nonlinear Control

[10] ON CHARACTERIZATIONS OF THE INPUT-TO-STATE STABILITY PROPERTY [J].

SONTAG, ED ;

WANG, Y .

SYSTEMS & CONTROL LETTERS, 1995, 24 (05) :351-359

← 1 2 →