| 一类非完整约束系统的镇定与能控性 |
| |
| 引用本文： | 程代展,慕小武. 一类非完整约束系统的镇定与能控性[J]. 控制理论与应用, 2002, 19(3): 467-470 |
| |
| 作者姓名： | 程代展 慕小武 |
| |
| 作者单位： | 1. 中国科学院系统科学研究所,北京,100080
2. 郑州大学数学系,郑州,450052 |
| |
| 基金项目： | supportedbyNational 973Project (G19980 2 0 3 0 8) . |
| |
| 摘 要： | 考虑非完整约束系统的镇定与能控性问题. 文中首先证明了虽然一般地说这类系统不能由光滑反馈镇定, 但它的存在性依赖于初值. 当初值在一个零测集外时, 这种反馈镇定确实存在. 然后我们证明了这类系统在分段光滑控制下全局可控. 由于证明是构造性的, 它给出了相应的控制.
|
| 关 键 词： | 非完整约束系统 镇定 能控性 状态反馈 有限时间控制 |
| 收稿时间： | 2001-03-12 |
| 修稿时间： | 2002-02-20 |
Stabilization and Controllability of a Class of Nonholonomic Systems |
| |
| CHENG Daizhan and MU Xiaowu. Stabilization and Controllability of a Class of Nonholonomic Systems[J]. Control Theory & Applications, 2002, 19(3): 467-470 |
| |
| Authors: | CHENG Daizhan and MU Xiaowu |
| |
| Affiliation: | Institute of Systems Science,Academia Sinica, Beijing,100080,P.R.China;Department of Mathematics,Zhengzhou University, Zhengzhou,450052,P.R.China |
| |
| Abstract: | In this note, the stabilization and controllability of a class of nonholonomic control systems are considered. First of all, it is shown that even though in general a smooth state feedback control, which stabilizes the system, does exist, the existence depends on the initial position of the system. It does exist except a very limited measure_zero set. Then we show that the systems are globally controllable by piecewise smooth controls. As a corollary, the systems are finite time stabilizable by piecewise smooth control. The proofs are constructive so the controls are provided precisely. |
| |
| Keywords: | nonholonomic system stabilization controllability state feedback finite time control |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《控制理论与应用》浏览原始摘要信息 |
|
点击此处可从《控制理论与应用》下载免费的PDF全文 |
