摘要
全球适应的州的反馈控制策略与强壮的非线性的飘移和未知非线性的参数在锁住的形式为 nonholonomic 系统的一个类被介绍。一种参数分离技术被介绍把非线性的 parameterization nonholonomic 系统转变成一个象线性一样 parameterized nonholonomic 系统。然后，反馈支配设计被使用设计一个全球适应稳定控制器，切换的策略被开发消除 uncontrollability 的现象。建议控制器能保证那得到状态全球性集成到起源的所有系统，当另外的信号仍然保持围住时。模拟例子表明有效性和建议控制器的柔韧的特征。
A global-adaptive state feedback control strategy is presented for a class of nonholonomie systems in chained form with strong nonlinear drifts and unknown nonlinear parameters. A parameter separation technique is introduced to transform the nonlinear parameterization nonholonomic system into a linear-like parameterized nonholonomic system. Then, the feedback domination design is applied to design a global adaptive stabilization controller and a switching strategy is developed to eliminate the phenomenon of uncontrollability. The proposed controller can guarantee that all the system states globally converge to the origin, while other signals remain bounded. Simulation example demonstrates the effectiveness and the robust features of the proposed controller.
出处
《自动化学报》
EI
CSCD
北大核心
2007年第4期399-403,共5页
Acta Automatica Sinica
基金
Supported by National Natural Science Foundation of P.R.China(60304003,60574007,60574080)
Research Startup Foundation of Qufu Normal University
关键词
不完整系统
自适应控制
非线性漂移
自动化技术
Nonholonomic systems, robust adaptive control, nonlinear drifts, nonlinear parameterization, global-adaptive stabilization
作者简介
WANG Qiang-De Received his Ph.D. degree in control theory and control engineering from Northeastern University. Now he is an associate professor in Qufu Normal University. His main research interest covers robust control and adaptive control of nonlinear systems. Corresponding author of this paper. E-mail： wqdwchl@sohu.com
WEI Chun-Ling Ph.D. candidate at the Institute of Automation, Southeast University. She received her B.S. degree from Qufu Normal University in 1998. Her main research interest covers robust covers and adaptive control of nonlinear systems. E-mail： weichunling@eyou.com
