Aimed at the stabilization of the nonholonomic chained system under fixed sample control, two control laws were proposed. The discrete model of the nonholonomic chained system under zero-hold was obtained through the ...Aimed at the stabilization of the nonholonomic chained system under fixed sample control, two control laws were proposed. The discrete model of the nonholonomic chained system under zero-hold was obtained through the integrate method to the continuous model. And the discrete model was transformed to the form with two linear subsystems through coordinate transformation. Two feedback control laws, time-invariant control law and time-varying control law, were proposed; and the local stabilization and global stabilization were realized respectively. The simulation results show the effectiveness of the proposed control laws. The discrete nonholonomic chained system can converge to zero from any initial state exponentially, and the convergence rate can be changed through changing the parameters of the control laws.展开更多
The Mei symmetry and conserved quantity of general discrete holonomic system are investigated in thispaper.The requirement for an invariant formalism of discrete motion equations is defined to be Mei symmetry.Thecrite...The Mei symmetry and conserved quantity of general discrete holonomic system are investigated in thispaper.The requirement for an invariant formalism of discrete motion equations is defined to be Mei symmetry.Thecriterion when a conserved quantity may be obtained from Mei symmetry is also deduced.An example is discussed forapplications of the results.展开更多
文摘Aimed at the stabilization of the nonholonomic chained system under fixed sample control, two control laws were proposed. The discrete model of the nonholonomic chained system under zero-hold was obtained through the integrate method to the continuous model. And the discrete model was transformed to the form with two linear subsystems through coordinate transformation. Two feedback control laws, time-invariant control law and time-varying control law, were proposed; and the local stabilization and global stabilization were realized respectively. The simulation results show the effectiveness of the proposed control laws. The discrete nonholonomic chained system can converge to zero from any initial state exponentially, and the convergence rate can be changed through changing the parameters of the control laws.
基金National Natural Science Foundation of China under Grant No.10672143
文摘The Mei symmetry and conserved quantity of general discrete holonomic system are investigated in thispaper.The requirement for an invariant formalism of discrete motion equations is defined to be Mei symmetry.Thecriterion when a conserved quantity may be obtained from Mei symmetry is also deduced.An example is discussed forapplications of the results.
