Parameterization and Stabilization of the Equilibrium Points of Affine Non-linear Control Systems
نویسندگان
چکیده
In this paper, we investigate equilibrium points of tine nonlinear control systems and construct a scheduled control law composed of a feedforward control and a family of state feedbacks. Representing the system by a parameterized family of linear models along its equilibrium points, a scheduled control law with a feedforward control and local linear robust controllers is designed so that the overall feedback stabilizes the plant about the equilibrium points. Finally, our approach is illustrated by applying it to the control of an arm driven inverted pendulum.
منابع مشابه
Passivity-Based Stability Analysis and Robust Practical Stabilization of Nonlinear Affine Systems with Non-vanishing Perturbations
This paper presents some analyses about the robust practical stability of a class of nonlinear affine systems in the presence of non-vanishing perturbations based on the passivity concept. The given analyses confirm the robust passivity property of the perturbed nonlinear systems in a certain region. Moreover, robust control laws are designed to guarantee the practical stability of the perturbe...
متن کاملRobust stabilization of a class of three-dimensional uncertain fractional-order non-autonomous systems
This paper concerns the problem of robust stabilization of uncertain fractional-order non-autonomous systems. In this regard, a single input active control approach is proposed for control and stabilization of three-dimensional uncertain fractional-order systems. The robust controller is designed on the basis of fractional Lyapunov stability theory. Furthermore, the effects of model uncertai...
متن کاملAdaptive fuzzy pole placement for stabilization of non-linear systems
A new approach for pole placement of nonlinear systems using state feedback and fuzzy system is proposed. We use a new online fuzzy training method to identify and to obtain a fuzzy model for the unknown nonlinear system using only the system input and output. Then, we linearized this identified model at each sampling time to have an approximate linear time varying system. In order to stabilize...
متن کاملDesign of A No-chatter Fractional Sliding Mode Control Approach for Stabilization of Non-Integer Chaotic Systems
A nonlinear chattering-free sliding mode control method is designed to stabilize fractional chaotic systems with model uncertainties and external disturbances. The main feature of this controller is rapid convergence to equilibrium point, minimize chattering and resistance against uncertainties. The frequency distributed model is used to prove the stability of the controlled system based on dir...
متن کاملDesign of a Novel Framework to Control Nonlinear Affine Systems Based on Fast Terminal Sliding-Mode Controller
In this paper, a novel approach for finite-time stabilization of uncertain affine systems is proposed. In the proposed approach, a fast terminal sliding mode (FTSM) controller is designed, based on the input-output feedback linearization of the nonlinear system with considering its internal dynamics. One of the main advantages of the proposed approach is that only the outputs and external state...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- Int. J. Systems Science
دوره 33 شماره
صفحات -
تاریخ انتشار 2002