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作者：de Castro, Ricardo
作者单位：University of California System; University of California Merced
摘要：This article focuses on the control of nonlinear systems with redundant actuation, where the number of actuators is higher than the number of controllable degrees of freedom. To effectively handle actuation redundancy, we propose a control allocation (CA) approach that combines numerical optimization methods with control Lyapunov and control barrier functions. The inclusion of control Lyapunov functions enhances the CA's ability to minimize performance loss in the presence of unattainable virt...
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作者：Li, Hanfeng; Zhang, Xianfu; Liu, Shuai
作者单位：Shandong University
摘要：This article proposes an improved dynamic gain method for studying the global regulation problem of feedforward nonlinear systems. The uncertain nonlinear terms admit an incremental rate depending on an unknown constant and the input. With a transformation of the state, an output feedback controller and a state feedback controller are designed respectively, without resorting to the celebrated forwarding design method. Based on the Lyapunov analysis, it is proved that the global regulation of t...
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作者：Cheng, Xiaoxiao; Tan, Ying; Mareels, Iven
作者单位：Imperial College London; University of Melbourne
摘要：Vibrational control seeks to stabilize an unstable system by judiciously injecting a state-free high-frequency dither. This article presents some robustness properties of vibrational control with respect to additive disturbances in a nonlinear system. We assume that, without disturbances, the appropriately averaged system is regionally asymptotically stable. Using perturbation techniques, our first result shows that the stabilization realized through vibrational control is robust with respect ...
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作者：Hanan, Avi; Levant, Arie; Jbara, Adam
作者单位：Tel Aviv University
摘要：The proposed simple modification of discrete homogeneous sliding-mode-based differentiators improves the accuracy and significantly lowers the output chattering in the absence of noises, while preserving the differentiation accuracy in their presence. The approach is extended to general discretely sampled homogeneous discontinuous systems. Numeric experiments confirm the theoretical results.
