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非完整链式系统的全局连续K指数镇定

李明军 马保离

李明军, 马保离. 非完整链式系统的全局连续K指数镇定[J]. 北京航空航天大学学报, 2011, 37(4): 452-457.
引用本文: 李明军, 马保离. 非完整链式系统的全局连续K指数镇定[J]. 北京航空航天大学学报, 2011, 37(4): 452-457.
Li Mingjun, Ma Baoli. Global K-exponential stabilization of nonholonomic chained systems by continuous feedback[J]. Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(4): 452-457. (in Chinese)
Citation: Li Mingjun, Ma Baoli. Global K-exponential stabilization of nonholonomic chained systems by continuous feedback[J]. Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(4): 452-457. (in Chinese)

非完整链式系统的全局连续K指数镇定

基金项目: 国家自然科学基金资助项目(60874012)
详细信息
    作者简介:

    李明军(1981-),男,湖南永兴人,博士生,limingjun_8888@163.com.

  • 中图分类号: TP 13

Global K-exponential stabilization of nonholonomic chained systems by continuous feedback

  • 摘要: 为非完整链式系统提出了两种全局连续反馈控制律,即连续时变反馈控制律和动态时不变反馈控制律.第1种控制律通过引入一个与状态初值有关的指数衰减项,来保证控制律的连续性和渐近性.第2种控制律通过引入一个可自由设定初值的辅助状态,来保证系统的可控性以及控制律的连续性和渐近性.这两种控制律可以保证系统所有状态以指数速度渐近地、连续地收敛到原点,克服了以往控制律不能同时具有连续性、渐近性和指数收敛速度的缺陷.所得控制律应用于移动机器人系统和一个4维链式系统的镇定,仿真结果表明:状态轨迹和控制轨迹的光滑度和收敛速度都要优于以往控制律.

     

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出版历程
  • 收稿日期:  2010-05-11
  • 网络出版日期:  2011-04-30

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