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

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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。

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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.

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

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