非线性系统理论.pdf

⾮⾮线线性性系系统统理理论论

IntroductionofLyapunov-BasedControl

1AnExampleofNonlinearSystems

LinearSystem˙x=AxBu

y=Cx

(1)ithasthesuperpositionproperty.Besides,thestabilityofthelinearsystemcompletelydependsonitsparameters.

NonlinearSystem˙x=f(x,u)

y=g(x)

(2)

superpositiondoesnotholdfornonlinearsystems,andthestabilityofanonlinearsystemdependsonbothsystem

parametersandinitialconditions.

Example:Thedynamicmodelfora2-DOFoverheadcranesystem(seeFigure??)canbepresentedasfollows

M(q)¨qVm(q,˙q)˙qG(q)=u(3)

q=[x(t)θ(t)]T(4)wherex(t)∈R1denotesthegantryposition,θ(t)∈R1denotesthepayloadanglewithrespecttothevertical,and

M(q)∈R2×2,Vm(q,˙q)∈R2×2,G(q)∈R2,andu(t)∈R2arede?nedasfollows

M(q)=mcmp?mpLcosθ

?mpLcosθmpL2,

Vm(q,˙q)=0mpLsinθ˙θ

00,

G(q)=0mpgLsinθT,u(t)=F0T,(5)

wheremc,mp∈R1representthegantrymassandthepayloadmass,respectively,L∈R1representsthelengthoftherodtothe

payload,g∈R1representsthegravitycoe?cient,andF(t)∈R1representsthecontrolforceinputactingonthegantry(see

Figure??).

2CommonNonlinearSystemsBehaviors

2.1MultipleEquilibriumPoints

Forthesystem

˙x=f(x)(6)

1

Figure1:

Toobtainequilibriumpoints,solvethefollowingequation

f(xs)=0

ifithasmultiplesolutions,thenthesystemhasmultipleequilibriumpoints.

Example:

˙x=?xx2(7)

?xx2=0=?xs=1orxs=0

hastooequilibriumpoints:xs=1andxs=0.

Question:Whichoneisstable?Why?

Rewritetheequationasfollows

˙x=x(x?1)

thenifx1,˙x0,xincreaseswithtime.Forthecaseofx1,(x?1)0,thus

˙x0,for1x0

˙x0,forx0

therefore,xs=1isunstableandxs=0isstable.

Wecansolvethesystemequationtoobtaintheresponseasfollows

x(t)=

x0e?t

1?x0x0e?t

=1?

1?x0

1?x0x0e?t

Fromthisformula,itcanbeseenthatifx01,thedenominator1?x0x0e?t0,thus

lim

t→∞

x(t)=0.

Theresponseofx0=0.99andx0=1.0001isdemonstratedinFigure??.

2

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