論文
最小射影法を使った微分フラットシステムに対する静的状態フィードバック制御系設計
2018 年 54 巻 12 号 p. 865-871
詳細
2018 年 54 巻 12 号 p. 865-871
We propose a “static” C∞ differentiable control Lyapunov function (CLF) design method for differentially flat systems by dynamic extension and minimum projection method. For differentially flat systems, “dynamic” CLF with dynamic compensators are designed. Our proposed “static” CLF is obtained by the reduction of the “dynamic” CLF. Then we design a static state feedback controller with the obtained static CLF. Finally we show an example to show that our proposed static CLF based controller can stabilizes the origin of the system.
