| 不确定非完整动力学系统的指数镇定 |
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| 引用本文： | 董文杰,霍伟.不确定非完整动力学系统的指数镇定[J].控制与决策,1999,14(4):319-323. |
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| 作者姓名： | 董文杰 霍伟 |
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| 作者单位： | 北京航空航天大学第七研究室 |
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| 摘 要： | 研究具有未知惯性参数非完整动力学系统的镇定问题，基于非连续变换和动力学方程的性质，设计出两类非线地指数镇定律－鲁棒控制和自适应控制律。将其用于一类移动机器人的位姿镇定，仿真结果验证了所提出控制方法的有效性。
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| 关 键 词： | 非完整控制系统 指数镇定 动力学系统 鲁棒控制 |
Exponential Stabilization of Uncertain\= Dynamic Nonholonomic Systems |
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| Dong Wenjie,Huo Wei.Exponential Stabilization of Uncertain\= Dynamic Nonholonomic Systems[J].Control and Decision,1999,14(4):319-323. |
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| Authors: | Dong Wenjie Huo Wei |
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| Affiliation: | Beijing University of Aeronautics & Astronautics |
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| Abstract: | This paper studies the stabilization of uncertain dynamic nonholonomic chained systems with unknown constant inertia parameters. With aid of discontinuous transformation and well-known properties of the system, two discontinuous exponentially stabilizing control laws, robust and adaptive control laws, are given. An application to a wheeled mobile robot is described too. Simulation results show that the approach is effective. |
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| Keywords: | nonholonomic control uncertain nonlinear system exponential stabilization discontinuous control wheeled mobile robot |
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