一类非线性系统镇定问题的分层控制方法
Hierarchical control method forstabilization of a class of nonlinear systems

通过利用分层控制设计方法, 研究了一类仿射非线性系统的镇定问题. 为了镇定这类系统, 分层方法构建 了一个简单的抽象系统, 然后根据抽象系统的控制律求得原始系统的控制律. 最后, 一个四维仿射非线性系统的仿 真例子说明了这种方法的有效性.
In this paper, we address the problem of stabilization for a class of affine nonlinear control systems by utilizing hierarchical control design method. In order to control this kind of systems, we first construct a simple abstract system, then derive the stabilizer of the original system from that of the abstraction. Finally, a simulation example of a 4 dimensional affine control system is included to illustrate the effectiveness of this method.