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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-saturation compensation scheme is proposed for a feedback linearizable system with limited input saturation. Using the theory of differential homeomorphism and coordinate transformation, the nonlinear system is transformed into a controllable and observable linear system in the new coordinate system In order to improve the performance of the system, a static anti-saturation compensator is introduced, and the compensator starts to work when the system inputs saturation, which plays a role of anti-saturation. Granger function is proposed, and the attractive region of the closed-loop system and the optimized attraction region are proposed. Simulation results show the effectiveness of the proposed control scheme.