非线性非最小相位系统的控制研究综述

苏善伟; 朱波; 向锦武; 林岩

doi:10.16383/j.aas.2015.c140322

非线性非最小相位系统的控制研究综述

doi: 10.16383/j.aas.2015.c140322

苏善伟^1, ,,
朱波²,
向锦武³,
林岩⁴

1.
北京航空航天大学无人机研究所北京 100191;
2.
电子科技大学航空航天学院成都 611731;
3.
北京航空航天大学航空科学与工程学院北京 100191;
4.
北京航空航天大学自动化科学与电气工程学院北京 100191

基金项目:

国家自然科学基金(61403013, 61304016, 61273141);中国博士后基金(2013M530509)资助

详细信息

作者简介:
朱波电子科技大学航空航天学院副教授.主要研究方向为非最小相位系统,控制系统瞬态调节技术,运动同步控制技术.E-mail:zhubo_uestc@163.com

通讯作者:
苏善伟北京航空航天大学无人机研究所讲师.2012年获得北京航空航天大学控制理论与控制工程专业博士学位.主要研究方向为非最小相位系统,飞行控制.本文通信作者. E-mail:sushanwei@aliyun.com

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出版历程
- 收稿日期: 2014-05-07
- 修回日期: 2014-09-19
- 刊出日期: 2015-01-20

A Survey on the Control of Nonlinear Non-minimum Phase Systems

SU Shan-Wei^{1
, ,},
ZHU Bo²,
XIANG Jin-Wu³,
LIN Yan⁴

1.
Research Institute of Unmanned Aerial Vehicle, Beihang University, Beijing 100191;
2.
School of Aeronautics and Astronautics, University of Electronic Science and Technology of China (UESTC), Chengdu 611731;
3.
School of Aeronautics Science and Engineering, Beihang University, Beijing 100191;
4.
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191

Funds:

Supported by National Natural Science Foundation of China (61403013, 61304016, 61273141) and China Postdoctoral Science Foundation (2013M530509)

摘要

摘要: 非线性非最小相位系统是指具有不稳定零动态或内部动态的非线性系统, 其本身固有的非最小相位特性限制了许多常规非线性控制方法(如反推控制、反馈线性化、滑模控制等)的直接应用. 因此, 非最小相位系统的控制比最小相位系统要困难得多, 是控制理论与工程应用中具有挑战性的课题之一. 本文综述了目前非线性非最小相位系统的研究成果, 着重介绍了非最小相位系统的成因、特性、理想内模求解等问题, 并对其镇定、轨迹跟踪及路径跟踪等控制方法进行了分析比较. 最后, 讨论了非线性非最小相位系统研究领域中尚存在的问题, 并对其未来发展方向进行了展望.
- 非最小相位 /
- 非线性控制 /
- 零动态 /
- 镇定 /
- 跟踪控制
Abstract: Nonlinear non-minimum phase systems have unstable zero dynamics or internal dynamics, their non-minimum phase property restricts the direct application of many powerful nonlinear control techniques, such as backstepping, feedback linearization, and sliding mode control. So the control of non-minimum phase systems is more difficult than that of minimum phase systems, and is one of the challenging issues in the control theory and engineering applications. This research summarizes the existing results of nonlinear non-minimum phase systems, and focuses on the topics including the origin of non-minimum phase systems, their characteristics and the solution methods of ideal internal dynamics. The control methods of stabilization, trajectory tracking and path following are analyzed and compared as well. Finally, the problems to be solved and the research trends are prospected at the end of the paper.
- Non-minimum phase /
- nonlinear control /
- zero dynamics /
- stabilization /
- tracking control

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参考文献(95)

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非线性非最小相位系统的控制研究综述

doi: 10.16383/j.aas.2015.c140322

作者简介:
朱波电子科技大学航空航天学院副教授.主要研究方向为非最小相位系统,控制系统瞬态调节技术,运动同步控制技术.E-mail:zhubo_uestc@163.com

通讯作者:
苏善伟北京航空航天大学无人机研究所讲师.2012年获得北京航空航天大学控制理论与控制工程专业博士学位.主要研究方向为非最小相位系统,飞行控制.本文通信作者. E-mail:sushanwei@aliyun.com

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A Survey on the Control of Nonlinear Non-minimum Phase Systems

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目录

留言板

非线性非最小相位系统的控制研究综述

doi: 10.16383/j.aas.2015.c140322

作者简介: 朱波 电子科技大学航空航天学院副教授.主要研究方向为非最小相位系统,控制系统瞬态调节技术,运动同步控制技术.E-mail:zhubo_uestc@163.com

通讯作者: 苏善伟 北京航空航天大学无人机研究所讲师.2012年获得北京航空航天大学控制理论与控制工程专业博士学位.主要研究方向为非最小相位系统,飞行控制.本文通信作者. E-mail:sushanwei@aliyun.com

计量

出版历程

A Survey on the Control of Nonlinear Non-minimum Phase Systems

计量

出版历程

目录

作者简介:
朱波电子科技大学航空航天学院副教授.主要研究方向为非最小相位系统,控制系统瞬态调节技术,运动同步控制技术.E-mail:zhubo_uestc@163.com

通讯作者:
苏善伟北京航空航天大学无人机研究所讲师.2012年获得北京航空航天大学控制理论与控制工程专业博士学位.主要研究方向为非最小相位系统,飞行控制.本文通信作者. E-mail:sushanwei@aliyun.com