| 非完整链式系统的输出跟踪控制
——动态扩展线性化方法1) |
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| 引用本文： | 马保离,宗光华,霍,伟.非完整链式系统的输出跟踪控制
——动态扩展线性化方法1)[J].自动化学报,1999,25(3):1. |
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| 作者姓名： | 马保离 宗光华 霍 伟 |
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| 作者单位： | ： |
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| 摘 要： |
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| 修稿时间： | 1997-02-21 |
TRACKING CONTROL OF
NONHOLONOMIC CHAINED
SYSTEMS BY DYNAMIC EXTENDED LINEARIZATION |
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| 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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