Direct Parametric Control of Fully-actuated Second-order Nonlinear Systems-The Normal Case

摘要：

　　Fully-actuated second-order systems occur in many applications,such as robotics systems,aircraft systems,mechanical systems etc.Yet what does a fully-actuated system offer? This paper proposes a direct parametric approach which solves the control of a fully-actuated second-order system completely.It is revealed that,with this proposed approach,fully-actuated systems,no matter linear or nonlinear,can actually be turned into a constant linear system with desire eigenstructure by state proportional plus derivative feedback.What is more,in such a realization the approach also provides all the degrees of freedom which may be further utilized to improve the system performance.Direct general complete parametrization of such a controller is proposed based on the solution to a type second-order Sylvester matrix equations,application to a robotic system shows the great convenience of the proposed direct parametric approach.

关键词： Fully-actuated second-order systems Direct parametric approach Eigenstructure Degree of freedom Nonlinear systems

作者: DUAN Guang-Ren

作者单位: Harbin Institute of Technology,Harbin 150001,P. R. China

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: 2406-2413

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）