| 一类二阶非完整系统的镇定 |
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| 引用本文： | 马保离. 一类二阶非完整系统的镇定[J]. 控制理论与应用, 2003, 20(4): 565-568 |
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| 作者姓名： | 马保离 |
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| 作者单位： | 北京航空航天大学,第七研究所,北京,100083 |
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| 基金项目： | 国家自然科学基金(60274005). |
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| 摘 要： | 研究一类二阶非完整系统的镇定问题. 通过状态和输入反馈变换将系统模型转换为二阶链式标准型, 并对标准型给出一种时变光滑指数镇定控制律. 所得结果应用于欠驱动平面刚体的镇定.
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| 关 键 词： | 非完整控制 二阶链式标准型 欠驱动机器人系统 时变光滑指数镇定 |
| 文章编号： | 1000-8152(2003)04-0565-04 |
| 收稿时间： | 2001-09-28 |
| 修稿时间： | 2001-09-28 |
Stabilization of a class of second-order nonholonomic systems |
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| MA Bao-li. Stabilization of a class of second-order nonholonomic systems[J]. Control Theory & Applications, 2003, 20(4): 565-568 |
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| Authors: | MA Bao-li |
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| Affiliation: | The Seventh Research Division, Beijing University of Aeronautics and Astronautics, Beijing 100083, China |
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| Abstract: | Stabilization of a class of second-order nonholonomic systems was investigated. The state and input feedback transformations were constructed explicitly to convert the second-order nonholonomic system to second-order canonical chained form. Smooth time-varying exponential control law was proposed to stabilize the second-order canonical chained form. The obtained result was applied to stabilize a planar underactuated rigid body. |
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| Keywords: | nonholonomic control second-order canonical chained form underactuated robot systems smooth time-vary-ing exponential stabilization |
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