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引用次数: 0
摘要
本文提出了一种新颖的 MIMO 超级扭转算法，适用于具有时变和状态变量不确定控制矩阵的相对阶数为 1 的非线性系统。不确定性由时间和状态变化但未知的左矩阵因子表示。与通常的标量增益不同，本文建立了全矩阵控制增益稳定性的充分条件。为此，使用了基于被动性解释的平滑 Lyapunov 函数。此外，利用统一的分析方法，还获得了经典不连续超级扭曲算法的连续和同质近似值。此外，所提出的超级扭转算法是非连续型的，而不是通常的单元型。
MIMO Super-Twisting Controller using a passivity-based design
A novel MIMO Super-Twisting Algorithm is proposed in this paper for nonlinear systems with relative degree one, having a time and state-varying uncertain control matrix. The uncertainty is represented by a time and state-varying but unknown left matrix factor. Sufficient conditions for stability with full-matrix control gains are established, in contrast to the usual scalar gains. For this a smooth Lyapunov function, based on a passivity interpretation, is used. Moreover, continuous and homogeneous approximations of the classical discontinuous Super-Twisting algorithm are obtained, using a unified analysis method. Moreover, the proposed Super-Twisting algorithm is of the discontinuous type, in contrast to the usual unitary type.
期刊介绍：
The Journal of The Franklin Institute has an established reputation for publishing high-quality papers in the field of engineering and applied mathematics. Its current focus is on control systems, complex networks and dynamic systems, signal processing and communications and their applications. All submitted papers are peer-reviewed. The Journal will publish original research papers and research review papers of substance. Papers and special focus issues are judged upon possible lasting value, which has been and continues to be the strength of the Journal of The Franklin Institute.
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