摘要
为了使一类非完整系统各状态能够更快收敛至平衡状态,该文对此类系统的有限时间镇定问题进行了研究。该文分别应用齐次系统方法和终端滑模控制理论,结合无扰切换策略,提出了两种有限时间镇定控制器,并给出了相应的控制器参数选择条件。所设计控制器能够根据非完整链式系统各状态的变化,使得系统状态在有限时间内收敛至平衡位置,且有效解决了原有非完整链式系统切换控制中的扰动问题。仿真结果表明,所设计的两种有限时间镇定控制器能够使三维非完整链式系统各状态在有限时间内收敛至平衡位置,并且控制输入在整个控制过程中连续变化。
In order to make every state converge to the equilibrium,the finite-time stabilization control for the nonholonomic chained system is studied here.Combining with non-disturbances switch control strategy,two kinds of finite-time stabilization controllers are proposed utilizing the homogenous system methods and terminal sliding mode control theory respectively.The selection conditions of the controller ＇ s parameters are given.The proposed controllers can make every state of the nonholonomic chained system converge from the initial state to the equilibrium in finite time according to the change of the states and solve the disturbance problem of the nonholonomic chained system under the existing switch controller.The simulation results show that the proposed finite-time stabilization controllers can make every state of a 3-dimentional nonholonomic chained system converge to the equilibrium in finite time,and the control input changes continually in the whole process.
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2012年第1期18-24,共7页
Journal of Nanjing University of Science and Technology
基金
国家自然科学基金(60975075
51175266
61074023)
关键词
非线性控制
有限时间控制
非完整链式系统
齐次系统方法
终端滑模控制
nonlinear control
finite-time control
nonholonomic chained systems
homogenous system methods
terminal sliding mode control
