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摘要: 针对非完整链式系统,导出了一种时变光滑反馈控制律,该控制律可以保证系统状态 全局指数收敛到原点,克服了以往控制律非光滑或虽光滑但却只能渐近镇定系统的缺陷.所得 控制律应用于移动机器人系统的镇定.Abstract: A smooth time-varying control law is derived to stabilize nonholonomic chained systems. The proposed control law guarantees all the system states exponentially converge to the origin, and thus it is superior to the ones which stabilize the chained systems by either non-smooth exponential or smooth asymptotical control laws. The proposed control law is used to stabilize a mobile robot.
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