一类非完整链式系统的有限时间镇定控制

针对一类三维非完整链式系统的有限时间镇定问题,提出了2种基于切换控制策略的有限时间镇定控制器,并给出了相应的控制器参数选择条件。分别应用齐次系统方法和终端滑模控制理论、根据系统各状态的变化并结合切换控制策略设计了上述控制器。系统各状态可在有限时间内从任意的非平衡位置收敛至平衡位置。最后,应用这2种控制器解决了三维非完整链式系统镇定问题并给出了具体的应用形式。通过仿真验证了所设计的有限时间镇定控制器的有效性。

A Finite-time Stabilization Control of a Kind of Nonholonomic Chained System

Aimed at the finite-time stabilization problem of the 3-dimensional nonholonomic chained system, two kinds of finite-time stabilization controllers are proposed in this paper based on the switching control strategy, and the selection conditions of the controller’s parameters are given. The proposed controllers utilize the homogeneous system approach and terminal sliding mode control theory respectively. All the states of the system can converge from any non-equilibrium state to the equilibrium in finite time. Finally, the stabilization problem of the 3-dimensional nonholonomic chained system is solved by utilizing the proposed controllers' and the explicit forms of the controllers are presented. The effectiveness of the proposed finite-time stabilization controllers is shown through simulation.