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一类二阶非完整系统的镇定 被引量：6

Stabilization of a class of second-order nonholonomic systems
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摘要 研究一类二阶非完整系统的镇定问题。通过状态和输入反馈变换将系统模型转换为二阶链式标准型,并对标准型给出一种时变光滑指数镇定控制律。所得结果应用于欠驱动平面刚体的镇定。 Stabilization of a class of second-order nonholonomic systems was investigated. The state and input feedback transformations were constructed explicitly to convert the second-order nonholonomic system to second-order canonical chained form. Smooth time-varying exponential control law was proposed to stabilize the second-order canonical chained form. The obtained result was applied to stabilize a planar underactuated rigid body.
作者 马保离
机构地区 北京航空航天大学第七研究所
出处 《控制理论与应用》 EI CAS CSCD 北大核心 2003年第4期565-568,共4页 Control Theory & Applications
基金 国家自然科学基金(60274005)
关键词 二阶非完整系统 镇定 反馈控制律 欠驱动机器人系统 路径规划算法 nonholonomic control second-order canonical chained form underactuated robot systems smooth time-vary-ing exponential stabilization
分类号 TP13 [自动化与计算机技术—控制理论与控制工程] TP242 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献17

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二级参考文献2

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共引文献2

同被引文献88

  • 1何广平,陆震,王凤翔.平面三连杆欠驱动机械臂谐波函数控制方法[J].航空学报,2004,25(5):520-524. 被引量：7
  • 2高丙团,陈宏钧,张晓华.一类欠驱动机械系统的非线性控制[J].控制与决策,2006,21(1):104-106. 被引量：16
  • 3慕小武,虞继敏,程桂芳.高阶非完整系统的适应调节[J].应用数学和力学,2006,27(4):447-453. 被引量：9
  • 4李世华,丁世宏,田玉平.一类二阶非线性系统的有限时间状态反馈镇定方法[J].自动化学报,2007,33(1):101-104. 被引量：52
  • 5理查德·摩雷 李泽湘.机器人操作的数学导论[M].机械工业出版社,1998..
  • 6Chun-Yi Su and Yury S. Adaptive Variable Structure Set-Point Control of underactuated Robots[J ]. IEEE Transactions on Automatic Control, 1999,44 ( 11 ): 2090～ 2093.
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  • 10Frsncesco Bullo. Nonlinear Control of Mechanical Systems: A Riemannian geometry Approach [D]. California Institute of technology, 1999.

引证文献6

二级引证文献25

控制理论与应用
2003年 第4期

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