一类时滞非完整系统的反馈控制问题的研究

Study of Feedback Control for Nonholonomic Systems with Delay

针对一类具有时滞项的非完整系统,研究了其反馈控制器的设计问题.采用状态转换技术和反推方法,设计了不依赖于时滞的反馈控制器.同时为了处理初值为零的情况,提出了一种新颖的基于第一个子系统输出值的切换控制策略,最后通过仿真算例说明了控制器的有效性.

This paper deals with the feedback control problem for nonholonomic systems with delay. The state scaling technique and back-stepping approach is used to design the feedback controller. In order to make the state scaling effective, the new switching control strategy based on the output measurement of the first subsystem is employed. The simulation demonstrates the effectiveness of the proposed controller.