動的補償器による多様体上の非線形制御系の大域漸近安定化

• 都築 卓有規

  島根大学総合理工学部

• 山下 裕

  北海道大学大学院情報科学研究科

書誌事項

タイトル別名

• Global Asymptotic Stabilization for a Nonlinear System on a Manifold via a Dynamic Compensator
• ドウテキ ホショウキ ニ ヨル タヨウタイ ジョウ ノ ヒセンケイ セイギョケイ ノ タイイキゼンキン アンテイカ

抄録

The purpose of this paper is to solve a global asymptotic stabilization problem for a nonlinear control system on a manifold with a complete metric. As well known, a system on a noncontractible manifold is not globally asymptotically stabilizable via a continuous feedback law. This problem results from the existence of multiple singular points of such a controlled system. It is shown that if all singular points can be assigned to a subspace of the extended state space using a dynamic compensator and a continuous feedback except for at most one jump, then the augmented system becomes globally asymptotically stable. Moreover, a method for stabilization is developed using a dynamic compensator and a global control Lyapunov function for an input-affine system. Finally, we propose a method for constructing the control Lyapunov function for a system such that the dimension of the coefficient matrix of the input is equal to the dimension of the state.

収録刊行物

• 計測自動制御学会論文集

  計測自動制御学会論文集 46 (10), 598-606, 2010

  公益社団法人 計測自動制御学会

キーワード

• global asymptotic stabilization
• nonlinear system
• dynamic compensator
• Lyapunov function

詳細情報

• CRID: 1390282679480005120
• NII論文ID: 10027445573
• NII書誌ID: AN00072392
• DOI: 10.9746/sicetr.46.598
• ISSN: 18838189
• ISSN: 04534654
• NDL書誌ID: 10884758
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10884758
• 本文言語コード: en
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可