تقرير
Robust nonlinear state-feedback control of second-order systems
| العنوان: | Robust nonlinear state-feedback control of second-order systems |
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| المؤلفون: | Ruderman, Michael, Efimov, Denis |
| سنة النشر: | 2024 |
| المجموعة: | Computer Science Mathematics |
| مصطلحات موضوعية: | Mathematics - Optimization and Control, Electrical Engineering and Systems Science - Systems and Control |
| الوصف: | This note proposes a novel nonlinear state feedback controller for perturbed second-order systems. In analogy to a linear proportional-derivative (PD) output feedback control, the proposed nonlinear scheme uses the output state of interest and its time derivative for a robust finite-time regulation. The control has only one free design parameter, and the closed-loop system is shown to be uniformly asymptotically stable in the presence of matched disturbances. We derive a strict Lyapunov function for the closed control loop with a bounded exogenous perturbation, and use it for both the control tuning and analysis of the finite-time convergence. Apart from the numerical results, a revealing experimental example is also shown in favor of the proposed control and in comparison with PD and sub-optimal nonlinear damping regulators. Comment: 6 pages, 6 figures |
| نوع الوثيقة: | Working Paper |
| الوصول الحر: | http://arxiv.org/abs/2406.14000Test |
| رقم الانضمام: | edsarx.2406.14000 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |