摘要
考虑了控制受限的一类非完整动力学系统的镇定问题 .在一定条件下经典非完整约束下的 Lagrange方程可化为扩展的链式系统 .利用滑动模态的思想和多步控制策略 ,设计了不连续反馈镇定律 ,该镇定律一方面满足控制受限条件 ,另一方面使得闭环系统的状态收敛到预先给定的原点的任意小的 ε邻域中 .最后对移动机器人进行了仿真 。
The stabilization of nonholonomic dynamic systems with bounded inputs is studied. It is demonstrated that under appropriate assumptions Lagrange's equations, including classical nonholonomic constraints, can be transformed to the extended chained-form system. By using the sliding mode approach and a multi-step control strategy, a new controller is presented, which can not only satisfy the control constraints but also stabilize the system to an arbitrarily small Ε-neighborhood about its equilibrium in a finite time. The proposed method is used to stabilize a mobile robot and the simulation result shows that the approach is effective.
出处
《自动化学报》
EI
CSCD
北大核心
2002年第2期222-228,共7页
Acta Automatica Sinica
基金
国家自然科学基金 (697740 0 9)
中国科学院沈阳自动化所知识创新工程基金 (F990 1 1 6)资助
关键词
滑动模态
移动机器人
非完整动力学系统
镇定问题
控制受限
Constraint theory
Dynamics
Lagrange multipliers
Mobile robots
Sliding mode control
Stabilization
