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针对一类非线性系统,研究存在奇异点时的跟踪控制问题.在采用反馈线性化方法将对象转换成标准型后,构造线性补偿器并结合期望轨迹的高阶导数构成伪控制量.通过引入梯度动力学方法求解控制律,以克服在控制过程中遇到的奇异点问题.通过稳定性分析验证了闭环系统的稳定性和跟踪误差的收敛性.仿真结果表明,此类控制器具有良好的控制性能,并且能有效克服奇异点问题.
For a class of nonlinear systems, the problem of tracking control in the presence of singular points is studied. After the object is transformed into a standard by using the feedback linearization method, a linear compensator is constructed and combined with the high-order derivatives of the desired trajectories to form a pseudo-control. The gradient dynamics method is used to solve the control law to overcome the singularity problem encountered in the control process.The stability of the closed-loop system and the convergence of the tracking error are verified by the stability analysis.The simulation results show that the controller has a good Control performance, and can effectively overcome the singularity problem.