用滑动模态实现一类非完整动力学系统的指数镇定
Exponential Stabilization of a Nonholonomic Dynamic System Via Sliding Modes
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摘要: 对于基变量具有对称性的一类确定非完整动力学系统,直接基于该系统模型,利用 滑动模态的方法设计了指数镇定控制器,得到了状态空间中的一个区域.当系统初始状态位 于该区域内时,系统状态是指数收敛的,而当初始状态不在该区域内时,可用非零的开环常值 控制使系统状态在有限时间内进入这一区域.因此,它是一种简洁的全局镇定律.最后,用仿 真结果验证了这一方法的有效性.Abstract: Directly based on the system dynamic model, for certain nonholonomic dynamic systems with symmetry base variables a sliding mode approach is exploited to design the controller and obtain a region in the state space. If the initial states of the system belong to the region, the controller can exponentially stabilize the system; otherwise, any nonzero constant controls can be applied to make the states enter the region in a finite time. So this stabilizing law is a simple and global law. Finally, simulation result shows that the approach is effective.
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Key words:
- Nonholonomic dynamic system /
- sliding modes /
- stabilization
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