个人信息
教师姓名:黄秀财

学位:博士学位

学历:研究生(博士后)

职称:副教授

所在单位:自动化学院

学术荣誉: 曾获荣誉:
2025第十届创客中国智能仿生机器人中小企业创新创业大赛一等奖
ICNC2024优秀论文提名奖
第49届日内瓦国际发明展银奖
张嗣瀛(CCDC 2024)优秀青年论文奖提名奖
重庆大学教书育人先进工作者
重庆市学位与研究生教育学会研究生教育教学改研究优秀成果奖特等奖
重庆市高等教学教学成果三等奖
自动化学会自然科学一等奖
高等学校科学研究优秀成果奖自然科学二等奖
中国电子学会优秀博士学位论文
个人简介

黄秀财,重庆万州人,重庆大学自动化学院副教授,硕士生导师,重庆大学自动化学院2013届学士、2018 届博士,美国密歇根州立大学联合培养博士,新加坡南洋理工大学博士后, 新重庆青年创新人才项目入选者。现任中国自动化学会可信控制专委会委员秘书长,自主无人系统安全与控制教育部国际合作联合实验室常务副主任。主要从事非线性控制理论,机器人及具身智能方面的研究,现已发表IEEE Trans会刊和IFAC汇刊文章30余篇,其中IEEE TAC和Automatica文章11篇,高被引论文1篇,受理/授权专利10余项,承担国家级/省部级纵向课题7项。成果先后获得中国自动化学会自然科学一等奖,教育部自然科学优秀成果二等奖,重庆大学、重庆市和中国电子学会优秀博士论文奖以及多个国际会议的最佳(提名)论文奖等。

论文成果
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Regulation of Nonminimum-Phase Nonlinear Systems Using Slow Integrators and High-Gain Feedback


发表刊物:IEEE Transactions on Automatic Control

关键字:Extended high-gain observer, high-gain feedback, non-minimum phase, performance recovery, regulation, slow integrators

摘要:This paper investigates the regulation problem for nonminimum-phase nonlinear systems via slow integrators and high-gain feedback. The developed methodology involves four steps: in the first step, we design a full-information feedback controller for an auxiliary system, which parallels the stabilization of the original system, as pioneered in [18]. In the second step, we use high-gain feedback to stabilize the original system, which is able to recover the performance of the auxiliary system by choosing the gain high enough. In the third step, with a condition on the dc steady-state input-output map, a slow integrator is added that enforces the objective of regulation. In the last step, we extend the methodology into the output feedback case by utilizing the extended high-gain observer to estimate the derivatives of the output as well as one unknown term including system uncertainties. The use of the observer recovers the performance under full-information feedback. The design procedure is first presented for the linear model for the clarity of the proposed methodology. The effectiveness of such methodology is demonstrated on the nontrivial translational oscillator rotating actuator example. At last, the design for minimum-phase nonlinear systems is also provided. In this case, the performance recovery of the closed-loop auxiliary system by output feedback is verified.

论文类型:期刊论文

卷号:64

期号:2

页面范围:640-653

是否译文:

收录刊物:SCI


附件:DOI 10.1109TAC.2018.2839532.pdf

下一条: Leader-follower consensus control with hierarchical prescribed performance for nonlinear multi-agent systems under reversing actuator faults


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