三维链式系统的渐近镇定:矢量场定向方法

M. Michałek, K. Kozlowski
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引用次数: 1

摘要

本文利用Michalek和Kozlowski(2004和2005)首次提出的矢量场定向(VFO)方法,提出了三维链式系统的渐近镇定问题,该方法已应用于解决独轮车、非完整机械臂等系统以及三维链式系统的轨迹跟踪问题。所提出的方法允许设计具有直观几何解释的简单控制律。在这项工作中提出的VFO控制器的稳定可以被视为Michalek和Kozlowski(2005)所描述的跟踪控制器的某种扩展。仿真结果验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Asymptotic stabilization for the 3-D chained system: the vector field orientation approach
The paper presents a proposition of asymptotic stabilization for a 3D chained system with the use of the vector field orientation (VFO) approach first introduced by Michalek and Kozlowski (2004 and 2005), where have been applied to solve a trajectory tracking task for such systems like unicycle cart, nonholonomic manipulator and also for 3D chained system. Proposed approach allows designing a simple control law with an intuitive geometrical interpretation. Stabilization with a VFO controller presented in this work can be treated as some extension of the tracking controller described by Michalek and Kozlowski (2005). Performance of the proposed solution is illustrated by simulation results.
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