非完整链式系统的输出跟踪控制--动态扩展线性化方法
Tracking Control of Nonholonomic Chained Systems by Dynamic Extended Linearization
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摘要: 针对非完整单链和多链系统,利用动态反馈线性化技术设计了输出跟踪控制器.证 明了当满足一定的条件时,通过选择适当的输出变量并利用动态反馈可使非完整链式系统实 现输入-输出完全线性化,从而可设计线性控制器跟踪期望的运动轨迹.最后以移动小车的跟 踪控制为例,通过仿真验证了文中方法的有效性.Abstract: Tracking control of nonholonomic single and multi-chained systems is investigated in this paper. It is shown that the nonholonomic chained systems can be completely linearized by dynamic feedback linearization if the proper output variables are chosen and certain conditions are satisfied ,and linear tracking controllers can then be designed for the resulted linearized systems. As an example, a moving cart is simulated to verify the proposed strategy.
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Key words:
- Nonbolonomic system /
- chained system /
- dynamic feedback /
- extended linearization /
- tracking control
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