| 引用本文: | 王朝立,谈大龙,王越超.状态受限的非完整链式系统的实际镇定[J].控制理论与应用,2002,19(2):271~273.[点击复制] |
| WANG Chaoli,TAN Dalong,WANG Yuechao.Practical Stabilization of Nonholonomic Chained Form Systems with State Constraints[J].Control Theory & Applications,2002,19(2):271~273.[点击复制] |
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| 状态受限的非完整链式系统的实际镇定 |
| Practical Stabilization of Nonholonomic Chained Form Systems with State Constraints |
| 摘要点击 1782 全文点击 1797 投稿时间：2000-04-10 修订日期：2000-12-01 |
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| DOI编号 10.7641/j.issn.1000-8152.2002.2.027 |
| 2002,19(2):271-273 |
| 中文关键词 状态受限 链式系统 移动机器人 实际镇定 |
| 英文关键词 state constraints chained form system wheeled mobile robot practical stabilization |
| 基金项目 中国科学院沈阳自动化所知识创新工程基金(F990116)资助项目. |
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| 中文摘要 |
| 考虑了状态受限的非完整单链式系统的实际镇定问题. 利用链式系统的特殊结构设计了两步控制算法. 该方法能够使闭环系统的状态最终收敛到原点的任意小邻域中, 且若系统初值小于任意正数M, 那么除了一个收敛到零的状态变量外, 其余状态变量在整个实际镇定过程中均小于正数 (1+ε)M, 其中ε可事先任意小. 最后对平面移动机器人进行了仿真, 验证了所给方法的有效性. |
| 英文摘要 |
| This paper investigates the practical stabilizing problem of chained systems with state constraints. Based on the peculiar structure of the chained form system, a new two_step controller is presented, which can stabilize the states of the system to an arbitrarily small neighborhood of its equilibrium in a finite time. In addition, if the initial value of each state is less than or equal to some positive number M, all states are less then or equal to (1+ε)M for an arbitrary positive ε except only one state which exponentially converges to zero. The application of it to a nonholonomic wheeled mobile robot is described. Simulation result shows that the proposed controller is effective. |