Exponential stabilization of nonholonomic dynamic systems by smooth time-varying control

被引：260

作者：

Tian, YP ^{[1
]}

Li, SH ^{[1
]}

机构：

[1] Southeast Univ, Dept Automat Control, Nanjing 210096, Peoples R China

来源：

AUTOMATICA | 2002年 / 38卷 / 07期

基金：

中国国家自然科学基金;

关键词：

nonholonomic system; exponential stabilization; smooth time-varying control; global stabilization;

D O I：

10.1016/S0005-1098(01)00303-X

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A general dynamic model is proposed for describing a large class of nonholonomic systems including extended chained systems, extended power systems, underactuated surface vessel systems etc. By introducing an assistant state variable and a time-varying state transformation based on the concept of minimal dilation degree, this class of nonholonomic systems is transformed into linear time-varying control systems, and the asymptotic exponential stability is thus achieved by using a smooth time-varying feedback control law. The existence and uniqueness of the minimal dilation degree for the discussed systems are also proved under certain conditions. (0 2002 Published by Elsevier Science Ltd.

引用

页码：1139 / 1146

页数：8

共 16 条

[1] Discontinuous control of nonholonomic systems [J].

Astolfi, A .

SYSTEMS & CONTROL LETTERS, 1996, 27 (01) :37-45

[2] CONTROL AND STABILIZATION OF NONHOLONOMIC DYNAMIC-SYSTEMS [J].

BLOCH, AM ;

REYHANOGLU, M ;

MCCLAMROCH, NH .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1992, 37 (11) :1746-1757

[3]

Brockett R.W., 1983, Differential Geometric Control Theory, P181

[4] Stabilization of nonholonomic integrators via logic-based switching [J].

Hespanha, JP ;

Morse, AS .

AUTOMATICA, 1999, 35 (03) :385-393

[5] Iterative design of time-varying stabilizers for multi-input systems in chained form [J].

Jiang, ZP .

SYSTEMS & CONTROL LETTERS, 1996, 28 (05) :255-262

[6] Switched mode feedback control laws for nonholonomic systems in extended power form [J].

Kolmanovsky, I ;

Reyhanoglu, M ;

McClamroch, NH .

SYSTEMS & CONTROL LETTERS, 1996, 27 (01) :29-36

[7]

Laiou M. C., 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251), P3940, DOI 10.1109/ACC.1999.786256

[8] Exponential stabilization of driftless nonlinear control systems using homogeneous feedback [J].

MCloskey, RT ;

Murray, RM .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1997, 42 (05) :614-628

[9]

Pait F., 1996, P 30 C INF SCI SYST, P416

[10]

Pettersen KY, 1996, IEEE DECIS CONTR P, P967, DOI 10.1109/CDC.1996.574602

← 1 2 →