[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(
)
离散非完整链式系统的镇定
)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
- 离散非完整链式系统的镇定
- Author(s):
- Li Sheng, Ma Guoliang, Hu Weili
- Department of Automation, Nanjing University of Science and Technology, Nanjing 210094, China
- 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.
- 针对定常采样过程中非完整链式系统的镇定问题, 提出了2个反馈控制律.首先通过对连续模型的积分运算, 得到了零阶保持器下非完整链式系统的离散模型, 然后利用坐标变换, 将其转换为2个线性子系统的形式, 并提出了2种反馈镇定控制律:时不变反馈控制律和时变反馈控制律, 分别实现了对离散非完整链式系统的局部和全局镇定.仿真实验表明所提反馈控制律是行之有效的.在它们的作用下, 离散非完整链式系统能从任意的初始状态指数收敛到原点, 并且通过改变反馈控制律的参数能改变系统各状态的收敛速度.
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.