Tracking Control of Nonlinear Dynamical System via Supervisory State Feedback Technique

摘要：

　　Because the dynamical characteristics of many physical systems are nonlinear and time varying,it is difficult to evaluate appropriate control effort to track the desired trajectory.To solve this problem,a simple supervisory state feedback controller for nonlinear dynamical system is proposed in this paper to achieve tracking objective.The proposed scheme comprises a state feedback linearization controller,which evaluates the normal control effort.Moreover,to overcome the system perturbation and stabilize the system states around a predefined bound region,a supervisory controller is added to adjust the control effort.The design process,theoretical and stability analysis are discussed in detail.Finally,two applications are provided to demonstrate the effectiveness of the proposed strategy.Compared with other methods,the proposed scheme possesses the salient advantages of simple framework,stable tracking control performance and robust to uncertainty.

关键词： Nonlinear dynamical system lumped uncertainty state feedback supervisory control

作者: Kuo-Ho Su Chen Lin

作者单位: Graduate Institute of Digital Mechatronic Technology,Chinese Culture University,Taipei,Taiwan

会议类型: 国际会议

会议名称: The 2014 ICME International Conference on Complex Medical Engineering (CME2014)ICME复合医学工程国际会议

会议地点: 台北

会议语种:英文

页码: 234-239

在线出版日期: 2014-06-26（万方平台首次上网日期，不代表论文的发表时间）