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刘允刚

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期刊论文

PRACTICAL OUTPUT-FEEDBACK RISK-SENSITIVE CONTROL FOR STOCHASTIC NONLINEAR SYSTEMS WITH STABLE ZERO-DYNAMICS∗

刘允刚YUN-GANG LIU† AND JI-FENG ZHANG‡

SIAM J. CONTROL OPTIM. Vol. 45, No.3, pp. 885-926,-0001,():

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摘要/描述

This paper addresses the design problem of practical (or satisfaction) output-feedback controls for stochastic strict-feedback nonlinear systems in observer canonical form with stable zerodynamics under long-term average tracking risk-sensitive cost criteria. The cost function adopted here is of the quadratic-integral type usually encountered in practice, rather than the quartic-integral one used to avoid difficulty in control design and performance analysis of the closed-loop system. A sequence of coordinate diffeomorphisms is introduced to separate the zero-dynamics from the entire system, so that the transformed system has an appropriate form suitable for integrator backstepping design. For any given risk-sensitivity parameter and desired cost value, by using the integrator backstepping methodology, an output-feedback control is constructively designed such that (a) the closed-loop system is bounded in probability and (b) the long-term average risk-sensitive cost is upper bounded by the desired value. In addition, this paper does not require the uniform boundedness of the gain functions of the system noise. Furthermore, an example is given to show the effectiveness of the theory.

【免责声明】以下全部内容由[刘允刚]上传于[2010年03月30日 18时07分20秒],版权归原创者所有。本文仅代表作者本人观点,与本网站无关。本网站对文中陈述、观点判断保持中立,不对所包含内容的准确性、可靠性或完整性提供任何明示或暗示的保证。请读者仅作参考,并请自行承担全部责任。

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