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针对仿射多输入多输出非线性非最小相位系统,提出了一种新的镇定方案.用反馈线性化解耦系统输入输出关系,通过高增益状态反馈镇定系统外部动态,用模型预测控制镇定内部动态,所设计控制器能保证闭环系统的指数稳定性.仿真结果表明了所提出方法的有效性和优越性.
Aiming at the affine multi-input and multi-output nonlinear non-minimum phase system, a new stabilization scheme is proposed, in which the input-output relationship is decoupled by feedback linearization, the external dynamics of the system is stabilized by high-gain feedback, and the model predictive control is used to stabilize the internal The controller is designed dynamically to ensure the exponential stability of the closed-loop system.The simulation results show the effectiveness and superiority of the proposed method.