南方科技大学知识苑(SUSTech KC): Fully actuated system approach to robust control of uncertain multi-order sub-fully actuated systems

题名	Fully actuated system approach to robust control of uncertain multi-order sub-fully actuated systems
作者	Zhang, Shiyu 1; Duan, Guangren1,2
通讯作者	Duan, Guangren
发表日期	2024-06-01
DOI	10.1002/rnc.7485
发表期刊	INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 影响因子和分区
ISSN	1049-8923
EISSN	1099-1239
摘要	Motivated by the fully actuated system (FAS) approach, this paper proposes a direct robust control method for a type of uncertain multi-order sub-fully actuated systems (MOSFASs). Unlike numerous previous results, this paper broadens to a more general multi-order model and the more challenging sub-fully actuated case with the presence of singular problems. Firstly, a general uncertain MOSFAS model is presented, where the uncertainty merely needs to satisfy a common assumption. Secondly, a direct robust control method is proposed, giving a robust controller which only needs to satisfy very loose and basic requirements to ensure that the states ultimately converge into an arbitrarily small region. Simultaneously, by constraining the initial values of the states, it is perfectly guaranteed that the states always remain in a "safe" zone free of singular points, thus preserving the realizability of the controller. Finally, under certain conditions, a less conservative robust control scheme is introduced, which can relax the constraint of initial values easily. A simulation for a coarse-fine angle system demonstrates the validity and value of the proposed robust control method.
关键词	fully actuated system approach multi-order sub-fully actuated systems nonlinear uncertainties robust control singular problems
相关链接	[来源记录]
收录类别	SCI ; EI
语种	英语
学校署名	通讯
资助项目	National Natural Science Foundation of China[62188101] ; Science Center Program of the National Natural Science Foundation of China["61690210","61690212"]
WOS研究方向	Automation & Control Systems ; Engineering ; Mathematics
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic ; Mathematics, Applied
WOS记录号	WOS:001244544700001
出版者	WILEY
ESI学科分类	ENGINEERING
来源库	Web of Science
引用统计	被引频次[WOS]：4
成果类型	期刊论文
条目标识符	http://sustech.caswiz.com/handle/2SGJ60CL/787924
专题	南方科技大学
作者单位	1.Harbin Inst Technol, Ctr Control Theory & Guidance Technol, Harbin 150001, Peoples R China 2.Southern Univ Sci & Technol, Ctr Control Sci & Technol, Shenzhen, Peoples R China
通讯作者单位	南方科技大学
推荐引用方式 GB/T 7714	Zhang, Shiyu,Duan, Guangren. Fully actuated system approach to robust control of uncertain multi-order sub-fully actuated systems[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,2024.
APA	Zhang, Shiyu,&Duan, Guangren.(2024).Fully actuated system approach to robust control of uncertain multi-order sub-fully actuated systems.INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL.
MLA	Zhang, Shiyu,et al."Fully actuated system approach to robust control of uncertain multi-order sub-fully actuated systems".INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL (2024).