Tracking Control for Uncertain Dynamical Systems Described by Differential Inclusions with Set-Valued Circular Observation Maps

對未確定動態微分包含系統使用圓形觀測集值函數的追蹤控制

黃仁芬(Jen-Fen Huang) ； 陳嘉文(Jia-Wen Chen)

《工業工程學刊》 24卷1期 (2007/01) Pp. 70-80

https://doi.org/10.29977/JCIIE.200701.0007

摘要

本論文中，我們將研究一群非線性未確定動態系統微分包含的完備追蹤控制問題。目的是建構一回饋控制器能夠促使所討論未確定動態系統的全部追蹤軌跡被引導以指數漸進收斂速率逼進到給定的觀測集值函數，我們將有效估算所有追蹤軌跡至觀測集值函數中心點的距離；更進一步，我們亦可以有效估算任一個軌跡至觀測集值函數的追蹤時間。最後以一範例來說明驗證我們所建立的主要結果。

關鍵字

追蹤控制 ； 微分包含 ； 回饋控制系統 ； 未確定動態系統 ； 指數漸進穩定

並列摘要

In this paper, we investigate the completely tracking control problem for a class of uncertain nonlinear dynamical systems described by differential inclusions. The goal is to construct a feedback control such that all tracking trajectories of the system are steered to the pre-specified set-valued observation map with an exponential convergence rate. An estimation of the distance from all tracking trajectories to the observation barycenter of observation map is given. Moreover, an estimation of the tracking time of the trajectory attaining the set-valued observation map is given. Finally, an example is given to illustrates the use of our main results.

並列關鍵字

tracking control ； differential inclusion ； feedback-control led system ； uncertain dynamical systems ； exponential asymptotic stability

參考文獻

Aubin, J. P.(1991).Viability Theory.Birkhauser, Boston:

Aubin, J. P.,Cellina, A.(1984).(Differential Inclusions).

Aubin, J. P.,Frankowska, H.(1990).(Set-valued Analysis).

Behtash, S.(1990).Robust output tracking for nonlinear systems.International Journal of Control.51,1381-1407.

Chen, J.W.,J. S. Cheng,J. G. Hsieh(1999).Tracking control for nonliear uncertain dynamical systems described by differential inclusions.Journal of Mathematical Analysis and Applications.236,463-479.