Control & Intelligent Processing Center of Excellence, School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran.
ISA Trans. 2010 Apr;49(2):215-21. doi: 10.1016/j.isatra.2009.11.004. Epub 2009 Dec 8.
Based on a control Lyapunov function (CLF) strategy, a novel approach for designing a controller for a slowly varying nonlinear system is proposed. The approach may be thought of as being in between the time-invariant and time-varying CLF techniques. If the time-invariant technique is used to control a slowly varying system, stability will not be guaranteed. On the other hand, the time-varying CLF technique, due to the control law, has complexity and needs to measure or estimate the derivative of system parameters. The advantage of the proposed method is its independence from the measurement or estimation of the derivatives of the system parameters. It is shown that the proposed control law can even be independent of the parameters of the system. In this paper, the conditions are derived that allow using the simple CLF formula that guarantees the stability of a slowly varying system. The efficiency of the approach is shown through some simulations.
基于控制李雅普诺夫函数（CLF）策略，提出了一种设计慢时变非线性系统控制器的新方法。该方法可以被认为是时不变和时变 CLF 技术之间的一种折中。如果使用时不变技术来控制慢时变系统，则无法保证稳定性。另一方面，由于控制律，时变 CLF 技术具有复杂性并且需要测量或估计系统参数的导数。所提出方法的优点是它不依赖于系统参数的测量或估计。结果表明，所提出的控制律甚至可以不依赖于系统的参数。本文推导出了可以使用简单的 CLF 公式来保证慢时变系统稳定性的条件。通过一些仿真，展示了该方法的有效性。
