非仿射非线性系统控制综述

全权; 陈炼

doi:10.13700/j.bh.1001-5965.2022.0642

非仿射非线性系统控制综述

doi: 10.13700/j.bh.1001-5965.2022.0642

全权¹,
陈炼^2, ,

1.
北京航空航天大学自动化科学与电气工程学院，北京 100191
2.
交通运输部公路科学研究院物流工程研究中心，北京 100088

详细信息

通讯作者:
E-mail：chen.lian@rioh.cn

中图分类号: V249.1；TP273
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- 文章访问数: 188
- HTML全文浏览量: 106
- PDF下载量: 13
- 被引次数: 0
出版历程
- 收稿日期: 2022-07-27
- 录用日期: 2022-08-26
- 网络出版日期: 2022-09-09
- 整期出版日期: 2024-08-28

Control of non-affine nonlinear systems: A survey

QUAN Quan¹,
CHEN Lian^{2
, ,}

1.
School of Automation Science and Electrical Engineering，Beihang University，Beijing 100191，China
2.
Logistics Engineering Research Center，Research Institute of Highway Ministry of Transport，Beijing 100088，China

More Information

Corresponding author: E-mail：chen.lian@rioh.cn

摘要

摘要:
作为仿射非线性系统更一般化的描述，非仿射非线性系统所对应的实际应用更加广泛，也更贴近实际。因此，研究非仿射非线性系统的控制问题十分重要。然而，非线性系统的非仿射特性会使控制信号以非线性函数形式出现在闭环系统中，从而带来诸如控制方向未知、奇异、过零等问题。由此，解决非仿射非线性系统的控制问题面临着巨大的挑战。基于此，介绍了仿射、严格反馈和高阶系统的相关背景知识，总结和分析了解决非仿射非线性系统控制的3种解决思路，包括函数变换法、参考模型法和数据驱动法。在已有的研究成果基础上，指出非仿射非线性系统研究领域所面临的挑战和发展趋势。
- 非仿射系统 /
- 非线性系统 /
- 严格反馈 /
- 数据驱动 /
- 加性分解
Abstract:
As a more general description of affine nonlinear systems, the practical applications corresponding to non-affine nonlinear systems are more comprehensive and closer to reality. Therefore, it is essential to study the control problems of non-affine nonlinear systems. However, the closed-loop system’s control signal appears as a nonlinear function due to the non-affine properties of nonlinear systems, which can lead to issues including singularity, zero-crossing, and uncertain control direction. From this point, solving control problems of non-affine nonlinear systems is a considerable challenge. This paper first introduces the relevant background knowledge of affine, strict feedback, and high-order systems, and then summarizes three solutions through literature research: function transformation method, reference model method, and data-driven method. Finally, based on existing research findings, the challenges and development trends faced in the field of non-affine nonlinear system research are proposed.
- non-affine systems /
- nonlinear systems /
- strict feedback /
- data-driven /
- additive decomposition

HTML全文

图 1 Citespace的分析结果

Figure 1. Analysis results of Citespace

下载: 全尺寸图片幻灯片

图 2 非仿射问题解决方案之间的关系

Figure 2. Relationship between non-affine problem solutions

下载: 全尺寸图片幻灯片

表 1 6种仿射解决方案对比

Table 1. Comparison of six affine solutions

方案	适用范围	可导性约束	有界性条件	计算复杂度
泰勒展开法	+++++	+++++		+++
反馈线性化	++	+++++		++++
微分中值定理	++	+++		+++
半有界建模	++		有	++
逼近法	++++			+++++
补零法	++++			+
注：“+”越多则相关指标越大。

下载: 导出CSV

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