摘要
利用滑动模态的方法 ,采用多步控制策略 ,对一类控制受限的不确定非完整动力学系统设计了镇定控制器 ,使得闭环系统的状态在有限时间内可收敛到原点的事先给定的任意小的ε邻域中 ,最后 ,将该方法用于一类移动机器人的控制器设计 ,仿真结果验证了该方法的有效性 .
The sliding mode approach and the multi-step control strategy are exploited to propose a stabilizing controller for uncertain nonholonomic dynamic systems with bounded inputs.This controller can stabilize the system to an arbitrarily smallneighborhood about its equilibrium in a finite time.Its application to a nonholonomic wheeled mobile robot is described.Simulation result shows that the proposed controller is effective.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2000年第6期831-835,共5页
Control Theory & Applications
基金
supported by National Science Foundation(69774009)
Knowledge Innovation Program of Shenyang Institute of Automation,SIA(F990116)
关键词
滑动模态
非完整动力学系统
输入约束
移动机器人
sliding modes
uncertanin nonholonomic dynamic system
bounded input
wheeled mobile robot
