论文标题
通过收缩分析在非线性系统跟踪控制的必要条件下
On necessary conditions of tracking control for nonlinear systems via contraction analysis
论文作者
论文摘要
在本文中，我们通过收缩分析解决了跟踪非线性系统控制的问题。在几种不同的情况下，研究了可以实现通用渐近跟踪的系统的必要条件。我们显示了与发达的控制收缩度量及其在动态扩展下的不变性的链接。在这些条件下，我们确定了可检测到的输出，基于通过阻尼注入设计的简单差分控制器用于轨迹跟踪。作为例证，我们适用于静电微犯罪仪。
In this paper we address the problem of tracking control of nonlinear systems via contraction analysis. The necessary conditions of the systems which can achieve universal asymptotic tracking are studied under several different cases. We show the links to the well developed control contraction metric, as well as its invariance under dynamic extension. In terms of these conditions, we identify a differentially detectable output, based on which a simple differential controller for trajectory tracking is designed via damping injection. As illustration we apply to electrostatic microactuators.
