论文标题
用于控制非线性系统的差异范围范式
A Differential-Cascaded Paradigm for Control of Nonlinear Systems
论文作者
论文摘要
本文着重于开发一个新的范式，该范式通过调查了与时变延迟和切换拓扑的网络拉格朗日系统的共识问题。我们以分段连续或任意时间可区分的控制扭矩来介绍自适应控制器，以实现拉格朗日系统的共识，从而扩展了文献中的结果。这项特定的研究激发了一种新范式的制定，称为前向替代，这被证明是解决各种非线性控制问题的系统工具。与前向替补相关的一个独特点是，通常指定参考动力学的顺序等于或高于原始非线性系统的顺序，并且参考动力学和非线性系统由差分/动态局部结构控制。指定的参考动力学相对于非线性系统的顺序不变性或增量及其差异/动态循环结构大大扩展了设计自由，因此促进了寻求解决许多非线性控制问题的解决方案，否则这些问题通常会很棘手。
This paper focuses on developing a new paradigm motivated by investigating the consensus problem of networked Lagrangian systems with time-varying delay and switching topologies. We present adaptive controllers with piecewise continuous or arbitrary times differentiable control torques for realizing consensus of Lagrangian systems, extending the results in the literature. This specific study motivates the formulation of a new paradigm referred to as forwardstepping, which is shown to be a systematic tool for solving various nonlinear control problems. One distinctive point associated with forwardstepping is that the order of the reference dynamics is typically specified to be equal to or higher than that of the original nonlinear system, and the reference dynamics and the nonlinear system are governed by a differential/dynamic-cascaded structure. The order invariance or increment of the specified reference dynamics with respect to the nonlinear system and their differential/dynamic-cascaded structure expands significantly the design freedom and thus facilitates the seeking of solutions to many nonlinear control problems which would otherwise often be intractable.
