Robust Adaptive Control of Nonholonomic Systems with Nonlinear Parameterization  

作　　者：WANG Qiang-De WEI Chun-Ling 

机构地区：[1]College of Electricity Information and Automation, Qufu Normal University, Rizhao 272826, P. R. China [2]Institute of Automation, Southeast University, Nanjing 210096, P. R. China

出　　处：《自动化学报》2007年第4期399-403,共5页Acta Automatica Sinica

基　　金：Supported by National Natural Science Foundation of P.R.China(60304003,60574007,60574080);Research Startup Foundation of Qufu Normal University

摘　　要：全球适应的州的反馈控制策略与强壮的非线性的飘移和未知非线性的参数在锁住的形式为 nonholonomic 系统的一个类被介绍。一种参数分离技术被介绍把非线性的 parameterization nonholonomic 系统转变成一个象线性一样 parameterized nonholonomic 系统。然后，反馈支配设计被使用设计一个全球适应稳定控制器，切换的策略被开发消除 uncontrollability 的现象。建议控制器能保证那得到状态全球性集成到起源的所有系统，当另外的信号仍然保持围住时。模拟例子表明有效性和建议控制器的柔韧的特征。A global-adaptive state feedback control strategy is presented for a class of nonholonomie systems in chained form with strong nonlinear drifts and unknown nonlinear parameters. A parameter separation technique is introduced to transform the nonlinear parameterization nonholonomic system into a linear-like parameterized nonholonomic system. Then, the feedback domination design is applied to design a global adaptive stabilization controller and a switching strategy is developed to eliminate the phenomenon of uncontrollability. The proposed controller can guarantee that all the system states globally converge to the origin, while other signals remain bounded. Simulation example demonstrates the effectiveness and the robust features of the proposed controller.

关 键 词：不完整系统 自适应控制 非线性漂移 自动化技术 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]