3322 非線形システムに対する入力制約を考慮した外乱抑制制御(非線形制御理論とその応用(2))

概要

論文の詳細を見る
Control Lyapunov functions (CLF's), CLF based controller designs and a disturbance attenuation attract much attention in nonlinear control theory. However, there does exist few researches which considers both the input constraint and the disturbance attenuation problems. For input constrained systems, we cannot stabilize under unbounded disturbances in general. Then, we consider bounded disturbances, and consider a local asymptotically stabilizable robust control Lyapunov function (AS-RCLF) instead of ISS-CLF or RCLF. In this paper, we clarify the condition for a local AS-RCLF and when a proper function becomes a local AS-RCLF. Moreover, we propose a stabilizing controller for input and disturbances constrained nonlinear systems using AS-RCLF which becomes continuous if a local ISS-RCLF has a ISS-CLF small control property.
一般社団法人日本機械学会の論文
2007-08-08