更一般高阶非完整系统的指数调节  

EXPONENTIAL REGULATION FOR MORE GENERAL HIGH-ORDER NONHOLONOMIC SYSTEMS

作　　者：高芳征[1] 尚艳玲[2] 袁付顺[1] 

机构地区：[1]安阳师范学院数学与统计学院,安阳455002 [2]安阳师范学院计算机教学部,安阳455002

出　　处：《系统科学与数学》2012年第2期149-160,共12页Journal of Systems Science and Mathematical Sciences

基　　金：国家自然科学基金(61073065);河南省基础与前沿技术研究计划项目(092300410145)资助课题

摘　　要：研究了一类更具有一般性的强漂移高阶非完整系统的指数调节问题.首先通过指数形式的input-state-scaling不连续变换将原x子系统的指数调节问题转化为变换后z子系统的镇定问题,并有效克服x子系统在控制输入u_0=0时不能控的问题.然后基于"加幂积分器"反推方法设计鲁棒控制器,在新的切换策略下,使闭环系统状态指数收敛到零点.仿真例子验证了所提方法的有效性.The problem of exponential regulation is addressed for a class of more general uncertain high-order nonholonomic systems with strong nonlinear drifts.First of all,a discontinuous input-state-scaling transformation in exponential form is introduced to convert exponential regulation of the x subsystem into the stabilization problem of the z subsystem, and hence the phenomenon of uncontrollability in u_0=0 is avoided.Then,by using the method of adding a power integrator,a state feedback controller is successfully designed.Based on a novel switching strategy,the proposed controller guarantees that the closed-loop system state exponentially converges to zero.A simulation example is provided to illustrate the effectiveness of the proposed approach.

关 键 词：高阶非完整系统 加幂积分器 切换控制策略 指数调节 

分 类 号：O231[理学—运筹学与控制论]