| 引用本文: | 李世华,田玉平.非完整向量幂式系统的光滑时变指数镇定(英文)[J].控制理论与应用,2001,18(3):317~322.[点击复制] |
| LI Shi-hua,TIAN Yu-ping.Smooth Time-Varying Exponential Stabilization of Nonholonomic Systems in the Vector Power Form[J].Control Theory and Technology,2001,18(3):317~322.[点击复制] |
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| 非完整向量幂式系统的光滑时变指数镇定(英文) |
| Smooth Time-Varying Exponential Stabilization of Nonholonomic Systems in the Vector Power Form |
| 摘要点击 1236 全文点击 1822 投稿时间：2000-04-10 修订日期：2001-01-15 |
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| DOI编号 10.7641/j.issn.1000-8152.2001.3.001 |
| 2001,18(3):317-322 |
| 中文关键词 非完整系统 幂式系统 光滑时变反馈 指数镇定 |
| 英文关键词 nonholonomic systems power form smooth time varying feedback exponential stabilization |
| 基金项目 |
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| 中文摘要 |
| 研究非完整向量幂式系统的镇定问题. 通过引入一个辅助状态变量, 此类系统可被转换成一个线性时变系统, 由此可得到具有指数收敛率的光滑反馈控制律. 该方法优点是控制律光滑并且设计过程简单, 系统每个状态的收敛率可被事先确定. 仿真结果表明了该方法的有效性. |
| 英文摘要 |
| We consider the stabilization problem of nonholonomic systems in the vector power form. We show this class of systems can be transformed into linear time varying control systems by introducing an assistant state variable. Thus, asymptotic stability with exponential convergence is achieved by using a smooth time varying feedback control law. Besides the smoothness of the control law, the design procedure is very simple and the convergence rate of each state can be specified a priori. Simulation results show the efficiency of the method. |