摘要
针对一类具有虚拟控制方向和非线性不确定项的非完整系统,研究了其输出反馈控制器的设计问题。采用状态转换技术和反推方法,设计了只依赖于输出值的输出反馈控制器。同时为了处理初值为零的情况,提出了基于第一个子系统输出值的切换控制策略,通过仿真算例说明了控制器的有效性。
This paper deals with the output feedback control problem for non-holonomic systems with nonlinear uncertainties and unknown virtual control directions.The state switching technique and back-stepping approach is used to design the output feedback controller.In order to make the state switching effective,the switching control strategy based on the output measurement of the first subsystem is employed.
出处
《装甲兵工程学院学报》
2009年第6期67-70,共4页
Journal of Academy of Armored Force Engineering
关键词
状态转换
反推技术
切换控制策略
state switching
back-stepping technique
switching control strategy
