Trajectory Stabilization for Nonlinear Systems using Time Varying Observer-Based Controller

摘要：

　　For trajectory tracking control of general nonlinear systems,the most basic strategy might be applying linear control technique to a linear approximate model around the trajectory.However,it seems that this basic method has not been commonly used.This is because this approximate model becomes a time-varying system,and hence,controller design procedure is not simple.The author proposed the simple design procedure of pole placement controller for linear time-varying systems.Furthermore,we also proposed the observer design method for linear time-varying multi-output systems by applying the pole placement design technique to adjoint systems.In this paper,these design methods will be applied to the trajectory tracking controller design problem for nonlinear systems by stabilizing some desired trajectory around it.

关键词： Linear Time-Varying System Nonlinear System Pole Placement Observer

作者: Lisa Awatsu Yasuhiko Mutoh

作者单位: Sophia University,Department of Engineering and Applied Sciences,7-1 Kioicho,Chiyoda-ku,Tokyo,Japan

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 3752-3759

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）