多输入离散时间平坦系统的精确线性化

中文摘要 AI 辅助

在本文中，我们研究了具有任意数量输入的前向平坦和后向平坦离散时间非线性系统的精确线性化问题。基于平坦参数化的结构性质，我们证明了通过适当变换输入的延长，前向平坦系统可以实现静态反馈线性化。类似地，对于后向平坦系统，我们推导了一个构造性程序，表明通过对系统变量的适当选择函数进行预延长可以实现精确线性化。这样，我们将先前针对双输入系统建立的结果推广到一般的m输入情形。最后，我们通过一个学术示例和一个四旋翼飞行器的离散时间模型来说明所提出的线性化程序。

英文摘要

In this contribution, we address the exact linearization of forward- and backward-flat discrete-time nonlinear systems with an arbitrary number of inputs. Building on structural properties of the flat parameterization, we show that forward-flat systems can be rendered static feedback linearizable by prolongations of suitably transformed inputs. Analogously, for backward-flat systems, we derive a constructive procedure showing that an exact linearization can be achieved by prelongations of suitably chosen functions of the system variables. In this way, we extend previously established results for two-input systems to the general m-input case. Finally, we illustrate the proposed linearization procedures by an academic example and a discrete-time model of a quadrotor.

发表机构

• Institute of Control Systems, Johannes Kepler University Linz（林茨约翰内斯·开普勒大学控制系统研究所）

机构由 AI 辅助整理，请以论文原文为准。