具有时变时滞的不确定非完整系统的输出反馈镇定

Output-feedback stabilization of uncertain nonholonomic systems with time-varying delay

针对一类含有状态时变时滞的不确定非完整系统,提出一种输出反馈镇定控制算法.通过应用不连续的输入-状态变换和缩放变换,将原始研究系统转换为更利于反馈控制器设计的新系统.基于此系统设计状态反馈控制律,通过构造状态观测器、利用必然等价原理给出理想的输出反馈镇定控制器.分析表明,所设计的控制器能够使得闭环系统的状态渐近趋于零.最后通过仿真实例表明了所提出控制策略的有效性.

The output-feedback stabilization control method is proposed for a class of uncertain nonholonomic systems involving time-varying delay. To facilitate the feedback design, by applying discontinuous input-state transformation and rescaling transformation, the original investigated model is transformed into a new system. Based on this new system, a state-feedback controller is developed firstly. Then, by designing the state observer and using the certainty equivalence principle, an output-feedback control law is given. The analysis shows that the designed controller can realized that the closed-loop system’s state asymptotically converges to zero. A simulation example is given to show the effectiveness of the control algorithm.