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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 한국지능시스템학회 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS Vol.12 No.2
- 발행연도
- 2012.6
- 수록면
- 131 - 136 (6page)
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초록· 키워드
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If one can find a control Lyapunov function (CLF) for a given nonlinear system, the control input stabilizing the system can be easily obtained. To find a CLF, the time derivative of an energy function should be negative definite. This procedure frequently requires a control input which is a rational function or includes an inverse function. The control input is not defined on the specific state-space where the denominator of the rational function is equal to 0 or the inverse function does not exist. In this region with singularities, the trajectory of the control system cannot be generated, which is one of the most important reasons why it is hard to make the origin of a nonlinear system be globally asymptotically stable. In this paper, we propose a smooth control law ensuring the globally asymptotic stability by means of cancelling the singularity in the control input.
목차
Abstract
1. Introduction
2. Singularity in CLF Approach
3. Cancelling Singularity in CLF Design
4. Examples
5. Conclusions
References
참고문헌 (13)
참고문헌 신청
1. [학술대회논문] - B. Castillo-Toledo / 2009 / Tracking through Singularities Using a Robust Differentiator / 6th Int. Conf. Electric. Eng., Comp. Sci., Autom : 1 ~ 5
2. [학술지(정기간행물)] - D. Colon / 2004 / Geometry of Adaptive Control : Optimization and Geodesics / Int. J. Adapt. Control, Signal Process. 18 (4) : 381 ~ 392
3. [학술대회논문] - R. M. Hirschorn / 2002 / Output Tracking through Singularities / Proc. 41st IEEE CDC : 3843 ~ 3848
4. [단행본] - Khalil / 2002 / Nonlinear Systems, 3rd Ed. / Prentice Hall
5. [학술지(정기간행물)] - X. Z. Lai / 2009 / Singularity Avoidance for Acrobots Based on Fuzzy-control Strategy / Robot., Autonom. Syst. 57 (2) : 202 ~ 211
2. [학술지(정기간행물)] - D. Colon / 2004 / Geometry of Adaptive Control : Optimization and Geodesics / Int. J. Adapt. Control, Signal Process. 18 (4) : 381 ~ 392
3. [학술대회논문] - R. M. Hirschorn / 2002 / Output Tracking through Singularities / Proc. 41st IEEE CDC : 3843 ~ 3848
4. [단행본] - Khalil / 2002 / Nonlinear Systems, 3rd Ed. / Prentice Hall
5. [학술지(정기간행물)] - X. Z. Lai / 2009 / Singularity Avoidance for Acrobots Based on Fuzzy-control Strategy / Robot., Autonom. Syst. 57 (2) : 202 ~ 211
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UCI(KEPA) : I410-ECN-0101-2013-028-003496292