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A High-Order Fully Actuated System Approach for a Class of Nonlinear Systems

GU Dake, WANG Shuo   

  1. School of Automation Engineering, Northeast Electric Power University, Jilin 132012, China
  • Received:2022-01-15 Revised:2022-02-24 Published:2022-04-13
  • Contact: GU Dake. Email: gudake@163.com
  • Supported by:
    This research was supported by the Major Program of National Natural Science Foundation of China under Grant Nos. 61690210 and 61690212, the National Natural Science Foundation of China under Grant No. 61333003, and also by the Science Center Program of the National Natural Science Foundation of China under Grant No. 62188101.

GU Dake, WANG Shuo. A High-Order Fully Actuated System Approach for a Class of Nonlinear Systems[J]. Journal of Systems Science and Complexity, 2022, 35(2): 714-730.

This paper utilizes the high-order fully actuated (HOFA) system approach to synthesize a class of nonlinear systems. First, the original nonlinear system can be rewritten in a quasi-linear form, which is more general than other nonlinear systems, such as strict-feedback systems. Based on a rank condition, the quasi-linear system can be transformed into a canonical form. Second, a simple transformation is adopted to convert the above canonical form into the HOFA model. Once an HOFA model is derived, the authors design a controller to make the closed-loop system a constant linear system with the desired eigenstructure. Finally, a numerical example illustrates the fitness and effectiveness of the proposed approach.
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