非完整向量幂式系统的光滑时变指数镇定(英文)

Smooth Time-Varying Exponential Stabilization of Nonholonomic Systems in the Vector Power Form

研究非完整向量幂式系统的镇定问题 .通过引入一个辅助状态变量 ,此类系统可被转换成一个线性时变系统 ,由此可得到具有指数收敛率的光滑反馈控制律 .该方法优点是控制律光滑并且设计过程简单 ,系统每个状态的收敛率可被事先确定 .仿真结果表明了该方法的有效性 .

We consider the stabilization problem of nonholonomic systems in the vector power form. We show this class of systems can be transformed into linear time varying control systems by introducing an assistant state variable. Thus, asymptotic stability with exponential convergence is achieved by using a smooth time varying feedback control law. Besides the smoothness of the control law, the design procedure is very simple and the convergence rate of each state can be specified a priori. Simulation results show the efficiency of the method.