非线性非最小相位系统输出反馈控制问题的研究

发布时间：2018-07-07 14:38

本文选题：非线性非最小相位系统 + 输出反馈控制　；参考：《哈尔滨工业大学》2017年博士论文

【摘要】：在本文中,主要研究内容是非线性非最小相位系统输出反馈控制器的设计问题。同时文中对非线性非最小相位系统输出反馈全局镇定问题的历史和发展历程进行了回顾。首先,对于2005年Marino和Tomei两个人的研究成果进行了简要的回顾,该成果主要是针对一类输出反馈标准型非线性非最小相位系统输出反馈全局渐进镇定问题的研究。本文中指出,假设该非最小相位系统对于一个线性虚拟输出是最小相位系统并且在一个更弱一点的条件下(假设2.2),通过一种无需滤波变换的技术手段,可以找到一个n阶而不是n+2(ρ-1)阶的动态输出反馈控制器使得该输出反馈标准型非线性非最小相位系统全局渐近稳定。并且基于该研究结果,本文也研究了一类非线性非最小相位系统的扰动抑制问题,假设该扰动信号是频率已知但是幅值和相位均为未知的正弦信号,因此该信号可以由一个线性信号发生器产生出来,利用非线性输出调节理论,证明了在适当的条件下,一类输出反馈标准型非线性非最小相位系统的全局扰动抑制问题是可解的。接下来,本文对一类能观非线性系统的输出反馈全局渐进镇定问题进行了研究,该非线性系统具有一种串联结构,由一个被驱动子系统(或称为零动态系统)和一个驱动子系统组成。本文证明了即便零动态系统是不稳定的,但是只要零动态系统和驱动系统具有下三角结构并且满足线性增长或全局利普希茨条件,则存在一个输出反馈控制器使得该非线性非最小相位系统全局渐近稳定,并且通过设计过程可知,该控制器是一个n阶动态输出反馈控制器。最后,本文研究了一类非线性非最小相位系统的采样输出反馈全局渐进镇定问题。系统的零动态系统(即所谓的被驱动子系统)和驱动子系统如果满足全局利普希茨条件(零动态系统的条件可以放宽为线性增长条件),并且整个系统具有下三角结构,本文证明了该非线性非最小相位系统可以被一个由离散化非线性观测器和线性控制器构成的采样动态输出反馈控制器全局渐进镇定。该研究成果使得利用计算机来控制的时候更容易实现。
[Abstract]:In this paper, the design of output feedback controller for nonlinear nonminimum phase systems is studied. At the same time, the history and development of output feedback global stabilization for nonlinear nonminimum phase systems are reviewed. Firstly, a brief review of the research results of Marino and Tomei in 2005 is presented. The results are mainly focused on the global asymptotic stabilization of output feedback for a class of standard nonlinear non-minimum phase systems with output feedback. It is pointed out in this paper that, assuming that the non-minimum phase system is the smallest phase system for a linear virtual output and under a weaker condition (assumption 2.2), by a technical means without filtering transformation, A dynamic output feedback controller with n order instead of n 2 (蟻 -1) order can be found to make the output feedback canonical nonlinear nonminimum phase system globally asymptotically stable. Based on the results, the disturbance suppression problem for a class of nonlinear non-minimum phase systems is also studied, assuming that the disturbance signal is a sinusoidal signal with known frequency but unknown amplitude and phase. Therefore, the signal can be generated by a linear signal generator. Using the nonlinear output regulation theory, it is proved that under appropriate conditions, The global disturbance suppression problem for a class of standard output feedback nonlinear nonminimum phase systems is solvable. Then, the global asymptotic stabilization problem of a class of observable nonlinear systems with output feedback is studied. The nonlinear system has a series structure. It consists of a driven subsystem (or zero dynamic system) and a drive subsystem. In this paper, it is proved that even if the zero dynamic system is unstable, if the zero dynamic system and the drive system have a lower triangular structure and satisfy the linear growth or global Lipschitz condition, Then there exists an output feedback controller which makes the nonlinear nonminimum phase system globally asymptotically stable. The design process shows that the controller is an n-order dynamic output feedback controller. Finally, the global asymptotic stabilization of a class of nonlinear nonminimum phase systems with sampled output feedback is studied. If the global Lipschitz condition is satisfied (the condition of the zero dynamic system can be extended to a linear growth condition) and the whole system has a lower triangular structure, the zero dynamic system (the so-called driven subsystem) and the driving subsystem are satisfied with the global Lipschitz condition (the condition of the zero dynamic system can be extended to the linear growth condition). In this paper, it is proved that the nonlinear nonminimum phase system can be globally asymptotically stabilized by a sampled dynamic output feedback controller composed of a discrete nonlinear observer and a linear controller. The results make it easier to use computers to control them.
【学位授予单位】：哈尔滨工业大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：TP273

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