二阶非完整链式系统的反馈线性化与不连续控制

Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204) Pub Date : 2001-09-05 DOI:10.1109/CCA.2001.973999

S. S. Ge, Z. Sun, T.H. Lee, M. Spong

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引用次数: 12

摘要

本文给出了二阶非完整链式系统线性化与镇定的理论框架。通过给出非光滑非正则反馈线性化问题的一个新判据，证明了二阶链状系统是非正则静态反馈线性化的。基于线性系统理论和反演技术，得到了系统的不连续控制规律。仿真研究表明了该方法的有效性。

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Feedback linearization and discontinuous control of second-order nonholonomic chained systems

This paper presents a theoretical framework for linearization and stabilization of second-order nonholonomic chained systems. By giving a new criterion for the problem of nonsmooth nonregular feedback linearization, it is proved that second-order chained systems are nonregular static state feedback linearizable. A discontinuous control law is obtained based on linear system theory and the inversion technique. Simulation studies are carried out to show the effectiveness of the approach.

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Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)

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