| 更一般高阶非完整系统的指数调节 |
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| 引用本文： | 高芳征,尚艳玲,袁付顺.更一般高阶非完整系统的指数调节[J].系统科学与数学,2012,32(2):149-160. |
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| 作者姓名： | 高芳征 尚艳玲 袁付顺 |
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| 作者单位： | 1. 安阳师范学院数学与统计学院,安阳,455002
2. 安阳师范学院计算机教学部,安阳,455002 |
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| 基金项目： | 国家自然科学基金，河南省基础与前沿技术研究计划项目(092300410145)资助课题 |
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| 摘 要： | 研究了一类更具有一般性的强漂移高阶非完整系统的指数调节问题.首先通过指数形式的input-state-scaling不连续变换将原x子系统的指数调节问题转化为变换后z子系统的镇定问题,并有效克服x子系统在控制输入u0=0时不能控的问题.然后基于"加幂积分器"反推方法设计鲁棒控制器,在新的切换策略下,使闭环系统状态指数收敛到零点.仿真例子验证了所提方法的有效性.
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| 关 键 词： | 高阶非完整系统 加幂积分器 切换控制策略 指数调节 |
EXPONENTIAL REGULATION FOR MORE GENERAL HIGH-ORDER NONHOLONOMIC SYSTEMS |
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| GAO Fangzheng
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SHANG Yanling
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YUAN Fushun.EXPONENTIAL REGULATION FOR MORE GENERAL HIGH-ORDER NONHOLONOMIC SYSTEMS[J].Journal of Systems Science and Mathematical Sciences,2012,32(2):149-160. |
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| Authors: | GAO Fangzheng SHANG Yanling YUAN Fushun |
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| Institution: | (School of Mathematics and Statistics,Anyang Normal University,Anyang 455002) |
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| Abstract: | The problem of exponential regulation is addressed for a class of more general uncertain high-order nonholonomic systems with strong nonlinear drifts.First of all,a discontinuous input-state-scaling transformation in exponential form is introduced to convert exponential regulation of the x subsystem into the stabilization problem of the z subsystem, and hence the phenomenon of uncontrollability in u0=0 is avoided.Then,by using the method of adding a power integrator,a state feedback controller is successfully designed.Based on a novel switching strategy,the proposed controller guarantees that the closed-loop system state exponentially converges to zero.A simulation example is provided to illustrate the effectiveness of the proposed approach. |
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| Keywords: | High-order nonholonomic systems adding a power integrator switching control scheme exponential regulation |
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