[1] Li Sheng, Ma Guoliang, Hu Weili,. Stabilization of discrete nonholonomic chained system [J]. Journal of Southeast University (English Edition), 2005, 21 (4): 445-448. [doi:10.3969/j.issn.1003-7985.2005.04.014]

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Stabilization of discrete nonholonomic chained system()

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

21

Issue:

2005 4

Page:

445-448

Research Field:

Computer Science and Engineering

Publishing date:

2005-12-30

Info

Title:

Stabilization of discrete nonholonomic chained system

Author(s):

Li Sheng;  Ma Guoliang;  Hu Weili

Department of Automation, Nanjing University of Science and Technology, Nanjing 210094, China

Keywords:

nonholonomic chained system;  discrete control;  exponential stabilization

PACS:

TP391

DOI:

10.3969/j.issn.1003-7985.2005.04.014

Abstract:

Aimed at the stabilization of the nonholonomic chained system under fixed sample control, two control laws were proposed.The discrete model of the nonholonomic chained system under zero-hold was obtained through the integrate method to the continuous model.And the discrete model was transformed to the form with two linear subsystems through coordinate transformation.Two feedback control laws, time-invariant control law and time-varying control law, were proposed;and the local stabilization and global stabilization were realized respectively.The simulation results show the effectiveness of the proposed control laws.The discrete nonholonomic chained system can converge to zero from any initial state exponentially, and the convergence rate can be changed through changing the parameters of the control laws.

References:

[1] Astofi A.Discontinuous control of nonholonomic systems [J].System and Control Letters, 1996, 27(1):37-45.
[2] Ma B L, Huo W.Smooth time-varying exponential stabilization of nonholonomic chained systems [J].Acta Automatica Sinica, 2003, 29(2):301-305.
[3] Kolmanovsky I, McClamroch N H.Development in nonholonomic control problems [J].IEEE Control System Magazine, 1995, 15(6):20-36.
[4] Kolmanovsky I, Reyhanoglu M.McClamroch N H.Switched mode feedback control laws for nonholonomic systems in extended power form [J].Systems and Control Letters, 1996, 27(1):29-36.
[5] Yamada M, Ohta S, Morinaka T, et al.Stabilization of nonholonomic systems in chained form based on sampled data control [A].In:Proceedings of the 41st IEEE Conference on Decision and Control [C].Navada, USA, 2002, 1:348-349.
[6] Slotine J E, Li W P.Applied nonlinear control [M].New Jersey: Prentice-Hall, 1991.

Memo

Memo:

Biographies: Li Sheng(1976—), male, graduate;Hu Weili(corresponding author), male, professor, hwl1002@sina.com.

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