摘要
研究一类二阶非完整系统的镇定问题。通过状态和输入反馈变换将系统模型转换为二阶链式标准型,并对标准型给出一种时变光滑指数镇定控制律。所得结果应用于欠驱动平面刚体的镇定。
Stabilization of a class of second-order nonholonomic systems was investigated. The state and input feedback transformations were constructed explicitly to convert the second-order nonholonomic system to second-order canonical chained form. Smooth time-varying exponential control law was proposed to stabilize the second-order canonical chained form. The obtained result was applied to stabilize a planar underactuated rigid body.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2003年第4期565-568,共4页
Control Theory & Applications
基金
国家自然科学基金(60274005)
关键词
二阶非完整系统
镇定
反馈控制律
欠驱动机器人系统
路径规划算法
nonholonomic control
second-order canonical chained form
underactuated robot systems
smooth time-vary-ing exponential stabilization
