High-order fully actuated system approaches: Part X. Basics of discrete-time systems

Duan, Guangren1,2

2021-09-01

10.1080/00207721.2021.1975848

INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE   影响因子和分区

0020-7721

1464-5319

A basic introduction to high-order fully actuated (HOFA) approaches for discrete-time systems is given. Firstly, it is shown that, different from the continuous-time systems, general dynamical discrete-time systems can be represented by two types of discrete-time HOFA models, namely, the step forward HOFA models and the step backward HOFA models. Secondly, controllers for the step backward HOFA models are designed, which result in constant linear closed-loop systems with arbitrarily assignable eigenstructures. The related problem of feasibility is also discussed. The well-known discrete-time feedback linearisable systems and strict-feedback systems are shown to be equivalent to both the step forward and step backward HOFA models. Finally, a generalised step backward HOFA model containing control vectors of different time instants is proposed and investigated and demonstrated with a type of proposed pseudo feed-forward systems. The contribution in this paper has laid a fundamental basis for discrete-time HOFA approaches. Further analysis and design problems can be naturally established parallel to the continuous-time system case.

Discrete-time systems fully actuated systems step forward models step backward models feasibility

SCI ; EI

英语

第一 ; 通讯

Major Program of National Natural Science Foundation of China[61690210,61690212] ; National Natural Science Foundation of China[61333003] ; SelfPlanned Task of State Key Laboratory of Robotics and System (HIT)[SKLRS201716A]

Automation & Control Systems ; Computer Science ; Operations Research & Management Science

Automation & Control Systems ; Computer Science, Theory & Methods ; Operations Research & Management Science

WOS:000700500600001

TAYLOR & FRANCIS LTD

20213910956704

Closed loop systems ; Continuous time systems ; Digital control systems ; Feedback control

Control Systems:731.1 ; Systems Science:961

ENGINEERING

Web of Science

1.Southern Univ Sci & Technol, Ctr Control Sci & Technol, Shenzhen, Peoples R China
2.Harbin Inst Technol, Ctr Control Theory & Guidance Technol, Harbin, Peoples R China

Duan, Guangren. High-order fully actuated system approaches: Part X. Basics of discrete-time systems[J]. INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE,2021,53:810-832.

Duan, Guangren.(2021).High-order fully actuated system approaches: Part X. Basics of discrete-time systems.INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE,53,810-832.

Duan, Guangren."High-order fully actuated system approaches: Part X. Basics of discrete-time systems".INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 53(2021):810-832.