Incremental Gain Scheduling and Eigenvalue Tracking for Robust Pole Assignment in Extended Linearization of Nonlinear Control Systems

被引：6
|
作者：
Rauh, Andreas [1 ]
Minisini, Johanna [2 ]
Aschemann, Harald [1 ]
机构：
[1] Univ Rostock, Chair Mechatron, D-18059 Rostock, Germany
[2] Univ Ulm, Inst Measurement Control & Microtechnol, D-89069 Ulm, Germany
来源：
2010 15TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR) | 2010年
关键词：
FEEDBACK-CONTROL;
D O I：
10.1109/MMAR.2010.5587229
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The principle of extended linearization is widely used for the control of nonlinear continuous-time processes which can be described in a quasi-linear form. For this class of systems, the gain matrix of linear state feedback controllers is usually adapted in such a way that the eigenvalues of the closed-loop control system are equal to predefined values and such that they remain fixed in spite of the system's nonlinearity. However, classical numerical routines for pole assignment for multiple-input multiple-output systems do not allow for real-time application in rapid control prototyping environments. Therefore, a novel algorithm based on the online solution of initial value problems for the desired controller gains is presented in this paper. Simulations and experimental results are given to highlight the applicability and robustness of this approach. An overview of suitable extensions to further observer-based control tasks concludes this paper.
引用
收藏
页码：228 / 233
页数：6
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