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摘要: 针对非线性系统的分析及综合问题, 提出了一种状态渐近稳定的三对角结构非线性系统, 并给出其应用--设计镇定控制器使原系统变换成该类三对角结构系统. 对移动机器人跟踪控制的仿真说明这种设计方法的有效性.Abstract: A class of asymptotically stable nonlinear systems with a special tridiagonal structure is proposed for the purpose of designing controllers. If the origin system can be transformed into a system with special tridiagonal structure by controllers or some coordinates transformations, these controllers are the stabilizing controllers. The simulation of the mobile robot with tracking control shows the effectiveness of this method.
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Key words:
- Nonlinear systems /
- tridiagonal structure /
- stability /
- backstepping
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