高阶系统方法— I.全驱系统与参数化设计

段广仁

doi:10.16383/j.aas.c200234

高阶系统方法— I.全驱系统与参数化设计

doi: 10.16383/j.aas.c200234

段广仁^1,

1.
哈尔滨工业大学控制理论与制导技术研究中心哈尔滨 150001

基金项目:

国家自然科学基金重大项目 61690210

国家自然科学基金重大项目 61690212

国家自然科学基金 61333003

机器人与系统国家重点实验室自主计划任务(HIT) SKLRS201716A

详细信息

作者简介:
段广仁中国科学院院士, 国家杰出青年基金获得者, 长江学者奖励计划特聘教授, 哈尔滨工业大学控制理论与制导技术研究中心主任, CAA Fellow, IEEE Fellow, IET Fellow. 1989年获得哈尔滨工业大学博士学位.主要研究方向为控制系统的参数化设计, 鲁棒控制, 广义系统, 航天器制导与控制. E-mail: g.r.duan@hit.edu.cn

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出版历程
- 收稿日期: 2020-04-21
- 录用日期: 2020-06-19
- 刊出日期: 2020-07-24

High-order System Approaches: I. Fully-actuated Systems and Parametric Designs

DUAN Guang-Ren^1
,

1.
Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001

Funds:

the Major Program of National Natural Science Foundation of China 61690210

the Major Program of National Natural Science Foundation of China 61690212

National Natural Science Foundation of China 61333003

the Self-Planned Task of State Key Laboratory of Robotics and System (HIT) SKLRS201716A

More Information

Author Bio:
DUAN Guang-Ren Academician of Chinese Academy of Sciences, winner of the National Science Fund for Distinguished Young Scholars, Distinguished Professor of Chang Jiang Scholars Program, Director of the Center for Control Theory and Guidance Technology, Harbin Institute of Technology, CAA Fellow, IEEE Fellow and IET Fellow. He received his Ph. D. degree from Harbin Institute of Technology in 1989. His research interest covers parametric design of control system, robust control, descriptor system, spacecraft guidance and control

摘要

摘要:
本文首先指出了控制领域中普遍使用的增广一阶系统方法的弊端, 介绍了高阶全驱系统的概念及其在控制器设计方面的优势, 并通过一些基础物理定律、串联系统、严反馈系统和可反馈线性化系统等例子说明了高阶全驱系统的普遍性, 进而指出高阶全驱系统是动态系统的一种描述形式, 是面向控制的模型.然后介绍了一类高阶全驱系统的一种参数化设计方法.通过适当选取一类非线性状态反馈控制律, 可获得一个具有希望特征结构的线性定常闭环系统, 并给出了闭环系统特征向量和反馈控制律的完全参数化表示, 讨论了解的存在性条件以及设计参数集合的稠密性等相关问题.最后对高阶全驱系统方法的后续问题做了说明和展望.
- 高阶系统 /
- 全驱系统 /
- 参数化方法 /
- 特征结构 /
- 设计自由度
Abstract:
In this paper, the drawback of the first-order system approaches which are widely used in the field of control systems is firstly pointed out, meanwhile the concept of high-order fully-actuated systems and, in particular, its advantage in controller design are introduced. The type of systems is demonstrated to be of wide existence by examining a number of basic physical laws and a few examples, including the common cascaded systems, the well-known strict-feedback systems, and those which can be linearized through feedback, and thus can be taken as a description of dynamical systems, more precisely, as a model for control. Then, a parametric design approach for the type of high-order fully-actuated systems is presented. With a proper nonlinear state feedback controller, a linear constant closed-loop system with desired eigenstructure can be derived, and complete parametric presentations for the closed-loop eigenvectors and the feedback law are given. Conditions of existence of solutions as well as the density of the set of design parameters are discussed. Finally, some further comments are made about future problems existing in the field of high-order fully-actuated systems.
- High-order systems /
- fully-actuated systems /
- parametric approaches /
- eigenstructure /
- design degrees of freedom
Recommended by Associate Editor HE Wei
注释:

1) 本文责任编委贺威

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