一类非完整二阶链式系统的全局K指数渐近镇定  

Global K-exponential Asymptotic Stabilization for a Class of Second-Order Nonholonomic Chained Systems

作　　者：康剑灵[1,2] 陈庆静 叶华文 殷年龙[1] KANG Jianling;CHEN Qingjing;YE Huawen;YIN Nianlong(College of Science, Donghua University, Shanghai 201620, China;Institute for Nonlinear Sciences, Donghua University, Shanghai 201620, China;College of Information Science and Engineering, Central South University, Changsha 410083, China)

机构地区：[1]东华大学理学院,上海201620 [2]东华大学非线性科学研究院,上海201620 [3]中南大学信息科学与工程学院,湖南长沙410083

出　　处：《东华大学学报（自然科学版）》2019年第4期626-630,共5页Journal of Donghua University(Natural Science)

基　　金：国家自然科学基金资助项目(61374024)

摘　　要：研究一类含有不可积广义加速度的二阶链式非完整系统的镇定问题。通过添加一个与初始状态有关的衰减项,为系统设计了全局连续的时变K指数控制律,实现系统的所有状态渐近指数地、连续地收敛到平衡点。将控制律应用于平面运动的三维刚体模型,仿真结果表明,初始状态越靠近原点,系统的所有状态也离原点越近。Globally asymptotic K-exponential control law was proposed to stabilize a class of secondorder nonholonomic chained systems with generalized non-integrable accelerations.By adopting an exponential decay term related to the initial states,all states of the system converge to the desired equilibrium continuously and asymptotically at the exponential rate.The obtained controller was applied to stabilize a rigid body with horizontal motion.The simulation results show that the closer the initial state is to the origin,the smaller the amplitude of the state is to the origin.

关 键 词：二阶非完整链式系统 全局K指数镇定 平面刚体 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]