论文标题
鉴定代数系统的矢量相对程度和漏斗控制
Vector relative degree and funnel control for differential-algebraic systems
论文作者
论文摘要
我们考虑跟踪多输入多输出差异代数系统的控制。首先，向量相对程度的概念是对线性系统的推广，我们得出了“截断矢量相对程度”的新颖概念，我们得出了一种新的正常形式。此后，我们考虑了一类非线性功能差分 - 代数系统，该系统包括具有截短矢量相对程度的线性系统。对于此类，我们引入了一个反馈控制器，该反馈控制器可以实现，对于给定足够平滑的参考信号，跟踪误差会在预先指定的性能漏斗中演变。我们通过机器人操纵器的示例来说明结果。
We consider tracking control for multi-input multi-output differential-algebraic systems. First, the concept of vector relative degree is generalized for linear systems and we arrive at the novel concept of "truncated vector relative degree", and we derive a new normal form. Thereafter, we consider a class of nonlinear functional differential-algebraic systems which comprises linear systems with truncated vector relative degree. For this class we introduce a feedback controller which achieves that, for a given sufficiently smooth reference signal, the tracking error evolves within a prespecified performance funnel. We illustrate our results by an example of a robotic manipulator.
