基于新规范形式的非完整链式系统降阶镇定设计

Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304) Pub Date : 1999-12-07 DOI:10.1109/CDC.1999.827859

S. Wang, W. Huo, Weijiao Xu

{"title":"基于新规范形式的非完整链式系统降阶镇定设计","authors":"S. Wang, W. Huo, Weijiao Xu","doi":"10.1109/CDC.1999.827859","DOIUrl":null,"url":null,"abstract":"In this paper two new canonical forms of nonholonomic systems are presented. By converting chained systems to these canonical forms and using the discontinuous state transformation, the stabilization controller design of a n-dimensional chained system can be reduced to the pole-assignment problem of a (n-2)-dimensional linear time-invariant system, which considerably simplified the controller design.","PeriodicalId":137513,"journal":{"name":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"1999-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Order-reduced stabilization design of nonholonomic chained systems based on new canonical forms\",\"authors\":\"S. Wang, W. Huo, Weijiao Xu\",\"doi\":\"10.1109/CDC.1999.827859\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper two new canonical forms of nonholonomic systems are presented. By converting chained systems to these canonical forms and using the discontinuous state transformation, the stabilization controller design of a n-dimensional chained system can be reduced to the pole-assignment problem of a (n-2)-dimensional linear time-invariant system, which considerably simplified the controller design.\",\"PeriodicalId\":137513,\"journal\":{\"name\":\"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1999-12-07\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CDC.1999.827859\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CDC.1999.827859","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 6

摘要

本文给出了非完整系统的两种新的标准形式。通过将链式系统转化为这些标准形式，并利用不连续状态变换，将n维链式系统的镇定控制器设计简化为(n-2)维线性定常系统的极点分配问题，大大简化了控制器设计。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Order-reduced stabilization design of nonholonomic chained systems based on new canonical forms

In this paper two new canonical forms of nonholonomic systems are presented. By converting chained systems to these canonical forms and using the discontinuous state transformation, the stabilization controller design of a n-dimensional chained system can be reduced to the pole-assignment problem of a (n-2)-dimensional linear time-invariant system, which considerably simplified the controller design.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)

自引率

0.00%

发文量