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首页> 外文期刊>IEEE Transactions on Automatic Control >Co-Design of Controllers and a Switching Policy for Nonstrict Feedback Switched Nonlinear Systems Including First-Order Feedforward Paths
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Co-Design of Controllers and a Switching Policy for Nonstrict Feedback Switched Nonlinear Systems Including First-Order Feedforward Paths

机译：包含一阶前馈路径的非严格反馈切换非线性系统的控制器协同设计和切换策略

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摘要

This paper studies the stabilization problem via the co-design of controllers and a switching policy for a new class of nonstrict feedback switched nonlinear systems whose subsystems consist of a chain of integrators, feedback paths, and first-order feedforward paths. Designing only smooth feedback controllers cannot deal with the unstabilizable factors caused by feedforward paths. By exploiting the single control Lyapunov function method, an effective switching policy is co-designed to compensate the controllers. In addition, we present a generalized backstepping process, based on which the solvability of virtual controllers is guaranteed, the algebraic condition for stabilizability is identified, and the transient response of the closed-loop systems is improved. Two examples demonstrate the effectiveness.
机译：本文通过控制器的协同设计和一类新的非严格反馈切换非线性系统的切换策略来研究镇定问题，该系统的子系统由积分器，反馈路径和一阶前馈路径组成。仅设计平滑的反馈控制器不能处理由前馈路径引起的不稳定因素。通过利用单控制Lyapunov函数方法，可以共同设计一种有效的切换策略来补偿控制器。此外，我们提出了一种通用的反推过程，在此基础上，保证了虚拟控制器的可求解性，确定了可稳定性的代数条件，并改善了闭环系统的瞬态响应。两个例子证明了有效性。

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