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Nonlinear non-minimum phase output tracking via output redefinition and learning control.

机译：通过输出重新定义和学习控制进行非线性非最小相位输出跟踪。

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摘要

Controllers are developed to achieve precise tracking control of single-input single-output nonlinear non-minimum phase systems affine in the control input. In addition to being non-minimum phase, the nonlinear systems considered are assumed to not be precisely characterized (i.e., there are uncertainties present). The control objective is to have the output of such systems track periodic reference trajectories. The developed controllers make novel use of: feedback linearization, output redefinition, and repetitive learning control. Output redefinition is employed in the following way: (1) a new output is defined such that the resulting new system is minimum phase, and (2) a desired redefined output trajectory is computed for the redefined output to track, such that in the process the original output precisely tracks the original desired output trajectory. A suitable redefined output is determined based on an approximate feedback linearization method. The redefined output obtained in this way results in a locally input-output linearized system with no zero dynamics. A control input obtained from feedback linearization based on this redefined output is then directly applied to the nonlinear system. The desired redefined output trajectory is calculated on-line as the output of new repetitive learning controllers that are developed and analyzed. The input to each learning controller is the original output tracking error. Simulations, and experiments performed on an underactuated mechanical system characterized by uncertainties, demonstrate the effectiveness of the developed controllers.
机译：开发控制器以实现对控制输入中仿射的单输入单输出非线性非最小相位系统的精确跟踪控制。除了是非最小相位外，还考虑了所考虑的非线性系统的特征不精确（即存在不确定性）。控制目标是使此类系统的输出跟踪周期性参考轨迹。研发的控制器具有新颖的用途：反馈线性化，输出重新定义和重复学习控制。以以下方式使用输出重新定义：（1）定义新的输出，以使所得的新系统为最小相位；（2）计算所需的重新定义的输出轨迹，以对要重新定义的输出进行跟踪，以便在过程中原始输出精确地跟踪原始所需的输出轨迹。基于近似反馈线性化方法确定合适的重新定义输出。以这种方式获得的重新定义的输出将导致局部输入-输出线性化系统，且没有零动态。然后，基于此重新定义的输出从反馈线性化获得的控制输入将直接应用于非线性系统。在线计算所需的重新定义输出轨迹，作为开发和分析的新重复学习控制器的输出。每个学习控制器的输入是原始输出跟踪错误。在以不确定性为特征的欠驱动机械系统上进行的仿真和实验证明了开发的控制器的有效性。

著录项

  • 作者

    Hu, Ai-Ping.;

  • 作者单位

    Georgia Institute of Technology.;

  • 授予单位 Georgia Institute of Technology.;
  • 学科 Engineering Mechanical.
  • 学位 Ph.D.
  • 年度 2000
  • 页码 192 p.
  • 总页数 192
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 机械、仪表工业;
  • 关键词

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