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题名:
A new nonlinear controller design method based on control Lyapunov function
作者: He YQ(何玉庆); Han JD(韩建达)
作者部门: 机器人学研究室
通讯作者: 何玉庆
会议名称: IEEE International Conference on Robotics and Biomimetics (ROBIO 2006)
会议日期: December 17-20, 2006
会议地点: Kunming, China
会议主办者: IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ
会议录: 2006 IEEE International Conference on Robotics and Biomimetics, Vols 1-3
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2006
页码: 1112-1116
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-1-4244-0570-1
关键词: control Lyapunov function ; linearization nonlinear system control ; model uncertainty ; input constraint
摘要: A new formulation of nonlinear controller design method based on control Lyapunov function, called Generalized Pointwise Min-Norm (GPMN) Controller, is introduced in this paper by generalizing the pointwise min-norm (PMN) controller presented by Freeman etc. And combining the GPMN controller with design-via-linearization approach of nonlinear system, we can obtain a new nonlinear controller design method, which can enlarge the stability region of the design-via-linearization approach and reserve the local performance of it. And a respectively robust and constrained version of this kind of controller is also introduced by considering both model uncertainty and input constraints.
语种: 英语
产权排序: 1
EI收录号: 20082811359780
WOS记录号: WOS:000245907301095
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8497
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
He YQ,Han JD. A new nonlinear controller design method based on control Lyapunov function[C]. IEEE International Conference on Robotics and Biomimetics (ROBIO 2006). Kunming, China. December 17-20, 2006.A new nonlinear controller design method based on control Lyapunov function.
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