链式非完整系统的输出反馈自适应镇定算法的验证

The Verification for Output Feedback Adaptive Stabilization of Chained Nonholo System

非完整系统的镇定控制研究主要内容是寻找一种控制律,即通过反馈控制律的设计,使得以非完整系统为对象的闭环系统在原点渐进稳定或指数稳定。文章的算法涉及的是不确定非完整系统的自适应控制律设计。为了在机器人上对算法进行验证,需要用C＋＋编程语言,其中会涉及到利用Runge-Kutta法求解微分方程组。

The research for the stabilization control of nonholonomic system is to find a control law,that is designing a feedback control law, so that the closed loop nonholonomic system can be asymptotically stable or exponentially stable. The algorithm of this paper is to design a adaptive control law for uncertain nonholonomic system. To verify the validity of the algorithm on robot, C＋＋ language is needed for programming, and the Runge^Kutta method is used to solve the ODEs.