| 引用本文: | 霍 伟.非完整控制系统的迭代指数镇定设计*[J].控制理论与应用,1999,16(S1):169~174.[点击复制] |
| Huo Wei.Recursive Design of Exponential Stabilization Laws for Nonholonomic Systems[J].Control Theory and Technology,1999,16(S1):169~174.[点击复制] |
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| 非完整控制系统的迭代指数镇定设计* |
| Recursive Design of Exponential Stabilization Laws for Nonholonomic Systems |
| 摘要点击 828 全文点击 361 |
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| DOI编号 |
| 1999,16(S1):169-174 |
| 中文关键词 非完整控制系统 镇定 迭代算法 |
| 英文关键词 nonholonomic control systems stabilization recursive algorithm |
| 基金项目 |
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| 中文摘要 |
| 本文提出了利用新的标准型迭代设计非完整幂式和链式系统指数镇定律的新方法，与已有的基于不变流型理论迭代设计幂式系统指数镇定律的方法相比，本文提出的方法无论在稳定性证明和控制器参数选择反面都更加简单. |
| 英文摘要 |
| In this paper a recursive design method for exponential stabilization nonholonomic systems in power form and chained form is presented based no a new canonical form.Comparing with existing recursive design method by the invariant manifold approach，the proposed method considerably simplifies the stability proof of closed-loop systems and the choose of controller parameters. |