摘要
考虑了状态受限的非完整单链式系统的实际镇定问题 .利用链式系统的特殊结构设计了两步控制算法 .该方法能够使闭环系统的状态最终收敛到原点的任意小邻域中 ,且若系统初值小于任意正数M ,那么除了一个收敛到零的状态变量外 ,其余状态变量在整个实际镇定过程中均小于正数 (1+ε)M ,其中ε可事先任意小 .最后对平面移动机器人进行了仿真 。
This paper investigates the practical stabilizing problem of chained systems with state constraints. Based on the peculiar structure of the chained form system, a new two_step controller is presented, which can stabilize the states of the system to an arbitrarily small neighborhood of its equilibrium in a finite time. In addition, if the initial value of each state is less than or equal to some positive number M, all states are less then or equal to (1+ε)M for an arbitrary positive ε except only one state which exponentially converges to zero. The application of it 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
2002年第2期271-273,278,共4页
Control Theory & Applications
基金
中国科学院沈阳自动化所知识创新工程基金 (F990 116)资助项目
关键词
状态受限
非完整链式系统
实际镇定
移动机器人
state constraints
chained form system
wheeled mobile robot
practical stabilization
