一类非完整系统的有限时间镇定控制

Journal of Systems Engineering and Electronics ›› 2010, Vol. 32 ›› Issue (2): 359-361.

一类非完整系统的有限时间镇定控制

李胜，王轶卿，陈庆伟，胡维礼

（南京理工大学自动化学院，江苏南京 210094）

出版日期:2010-02-03 发布日期:2010-01-03

Finitetime control for the stabilization of a kind of nonholonomic system

LI Sheng， WANG Yi-qing， CHEN Qing-wei， HU Wei-li

(School of Automation, Nanjing Univ. of Science and Technology,Nanjing 210094, China)

Online:2010-02-03 Published:2010-01-03

摘要/Abstract

摘要：

针对一类可化为链式标准型的非完整系统的有限时间镇定问题，提出了一种基于切换控制策略的有限时间镇定控制器，并给出了控制器参数的选择条件。该控制器利用切换控制的思想，根据系统的状态变化，通过有限次切换，可使得非完整链式系统各状态在有限时间内从任意的非平衡位置收敛至平衡位置。最后给出了应用该控制器控制非完整链式系统的具体形式，通过仿真实验验证了所设计的有限时间镇定控制器的有效性。

Abstract:

Aimed at the finite time stabilization problem of a kind of nonholonomic system that is transformed into a chained form system, a finitetime stabilization controller is proposed based on switch control theory, and the parameter selected conditions of the controller are also given. According to the state of system, the proposed controller makes every state of the nonholonomic chained system convege from any unbalanced state to the balanced state after finite time through finite switch. Finally, the effectiveness of the finite time stabilization controller using the switch method is shown by a simulation test.

李胜，王轶卿，陈庆伟，胡维礼. 一类非完整系统的有限时间镇定控制[J]. Journal of Systems Engineering and Electronics, 2010, 32(2): 359-361.

LI Sheng， WANG Yi-qing， CHEN Qing-wei， HU Wei-li. Finitetime control for the stabilization of a kind of nonholonomic system[J]. Journal of Systems Engineering and Electronics, 2010, 32(2): 359-361.