摘要
针对非完整单链和多链系统，利用动态反馈线性化技术设计了输出跟踪控制器．证明了当满足一定的条件时，通过选择适当的输出变量并利用动态反馈可使非完整链式系统实现输入－输出完全线性化，从而可设计线性控制器跟踪期望的运动轨迹．最后以移动小车的跟踪控制为例。
Tracking control of nonholonomic single and multi chained systems is investigated in this paper.It is shown that the nonholonomic chained systems can be completely linearized by dynamic feedback linearization if the proper output variables are chosen and certain conditions are satisfied,and linear tracking controllers can then be designed for the resulted linearized systems.As an exa mple,a moving cart is simulated to verify the proposed strategy.
出处
《自动化学报》
EI
CSCD
北大核心
1999年第3期316-322,共7页
Acta Automatica Sinica
基金
国家自然科学基金
关键词
非完整系统
链式系统
扩展线性化
跟踪控制
Nonholonomic system,chained system,dynamic feedback,extended linearization,tracking control.
