非线性系统类别的扰动抑制
Disturbance rejection for classes of nonlinear systems
- Salzburg University of Applied Sciences（萨尔茨堡应用科技大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文针对两类非线性系统，提出基于高增益和滑模范式的非自适应全局鲁棒扰动抑制方法，实现输入-状态稳定性与任意小吸引子的渐近收敛。
AI中文摘要：
本文研究了针对两类不同非线性系统的非自适应全局鲁棒扰动抑制问题。第一类系统记为C1，由严格反馈形式的非线性系统组成，具有线性且Hurwitz稳定的零动态（其状态对反馈不可用），并在本工作中通过强制、非匹配的加性扰动进行了增强。本文采用非线性工具证明，所提出的基于高增益范式的控制架构能够实现闭环输入-状态稳定性（相对于强制扰动），并全局渐近收敛到一个可以任意小的吸引子。随后，凭借已建立的输入-状态稳定性性质，在控制架构中额外嵌入了一个一致有界的控制作用。该附加单元按照滑模范式设计，旨在通过潜在地降低所需的高增益控制开销来改善扰动抑制任务。第二类系统记为C2，由最小相位、不确定、相对阶大于一的非线性系统构成，其特征是可能无界且导数可能无界的输出相关非线性，以及匹配的加性强制扰动。为了解决C2类系统的输出反馈、非自适应、全局鲁棒扰动抑制问题，首先采用开环观测器代替早期工作中采用的经典动态扩展，因为后者由于未知强制扰动的存在而不再可实现。随后，将针对C1类系统推导的结果适配到C2类系统，以产生一个输出反馈动态控制器，提供闭环全局一致有界性，并渐近调节到一个可以任意小的吸引子。
英文摘要：
This paper addresses the problem of non-adaptive global robust disturbance rejection for two distinct classes of nonlinear systems. The first class, denoted by C1, consists of nonlinear systems in strict-feedback form, with linear and Hurwitz zero-dynamics (whose states are unavailable for feedback), and enhanced - within this work - by forcing, unmatched, additive disturbances. Nonlinear tools are herein employed to demonstrate that the proposed control architecture - based on the high-gain paradigm - achieves closed-loop input-to-state stability with respect to the forcing disturbances, along with global asymptotic convergence towards an attractor which can be rendered as small as desired. Then, owing to the established input-to-state stability property, a uniformly bounded control action is additionally embedded within the control architecture. The additional unit, designed following the sliding-mode paradigm, is aimed at improving the disturbance rejection task, by potentially lowering the required high-gain control expenditure. The second class of systems, denoted by C2, is constituted by minimum-phase, uncertain, nonlinear systems with relative degree greater than one, featuring possibly unbounded, with possibly unbounded derivatives, output-dependent nonlinearities, with matched additive forcing disturbances. To solve the problem of output-feedback, non-adaptive, global robust disturbance rejection for systems within C2, first, an open-loop observer is employed in lieu of a classic dynamic extension adopted in earlier works, as the latter is no longer implementable due to the presence of unknown forcing disturbances. Subsequently, the results derived for C1 are then adapted to C2, to yield an output-feedback dynamic controller providing closed-loop global uniform boundedness, along with asymptotic regulation towards an attractor which can be rendered as small as desired.
