摘要
针对具有输入饱和受限的可反馈线性化系统,提出了一种静态抗饱和补偿方案.运用微分同胚及坐标变换理论,将非线性系统转化为新坐标系下可控、可观测的线性系统.在不考虑输入受限的条件下提出静态状态反馈控制,为改善系统性能,引入了静态抗饱和补偿器.当系统出现输入饱和时,补偿器开始工作,起到了抗饱和的作用.基于拉格朗日函数,提出了闭环系统的吸引域及优化后的吸引域.仿真结果证明了该控制方案的有效性.
A static anti-windup compensation design for feedback linearizable systems with input saturation was considered.Based on diffeomorphic and coordinate transform theory,the nonlinear system was changed into controllable and observable linear system in new coordinate system.Then a static state feedback control was presented without considering its input saturation.In order to improve system performance,a static anti-windup compensator was introduced.When the input was saturation,the compensator would start working and play an important role in anti-windup part.Based on Lagrange condition,the attraction domain before optimization and after optimization were proposed.Finally,simulation results demonstrated the effectiveness of the approach.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2014年第9期14-18,共5页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家自然科学基金资助项目(61374003)
关键词
线性化系统
抗饱和
吸引域
微分同胚
状态反馈
linearization system
anti-windup
attraction domain
diffeomorphic
state feedback
