论文标题
在紧凑型凸状态下，具有非线性漂移的系统的最小可控性时间
Minimal controllability time for systems with nonlinear drift under a compact convex state constraint
论文作者
论文摘要
在本文中，我们估计具有有界凸状态约束的一类非线性控制系统的最小可控性时间。如果控制矩阵的图像为共同量度，则给出可控时间的明确表达式。在一般情况下给出了可控时间的下限。该技术基于找到具有与原始系统相似的可控性能的较低维度系统。分析和计算与最小时间或接近最小时间的时间相对应的控件。一些例子说明了拟议方法的有效性。
In this paper we estimate the minimal controllability time for a class of non-linear control systems with a bounded convex state constraint. An explicit expression is given for the controllability time if the image of the control matrix is of co-dimension one. A lower bound for the controllability time is given in the general case. The technique is based on finding a lower dimension system with the similar controllability properties as the original system. The controls corresponding to the minimal time, or time close to the minimal one, are discussed and computed analytically. The effectiveness of the proposed approach is illustrated by a few examples.
