Stabilization using pseudolinearization and high-gain feedback

被引：4
|
作者：
Davison, DE
Bortoff, SA
机构：
[1] UNIV TORONTO,DEPT ELECT & COMP ENGN,TORONTO,ON M5S 3G4,CANADA
[2] UNIV MICHIGAN,DEPT ELECT ENGN & COMP SCI,ANN ARBOR,MI 48109
来源：
AUTOMATICA | 1997年 / 33卷 / 02期
基金：
加拿大自然科学与工程研究理事会;
关键词：
nonlinear systems; high-gain feedback; linearization; stabilizing feedback; stability domains; acrobot;
D O I：
10.1016/S0005-1098(96)00148-3
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper investigates stabilization of single-input nonlinear systems by switching between two separate nonlinear feedback controllers. The first, a pseudolinear controller, provides a region of attraction U-0 around the equilibrium manifold. The second controller is high gain, and is designed to drive the state originating in a (larger) set of initial conditions U-1 into U-0. When the state enters U-0, the control is switched from the high-gain control to the pseudolinear control. Simple analytic estimates of both U-0 and U-1 are given. The method is applied in simulation to an acrobot, and in simulation and experiment to a rotating inverted pendulum. (C) 1997 Elsevier Science Ltd.
引用
收藏
页码：245 / 251
页数：7
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