A FAS approach for stabilization of generalized chained forms:part 1.Discontinuous control laws  

作　　者：Guang-Ren DUAN 

机构地区：[1]Center for Control Science and Technology,Southern University of Science and Technology,Shenzhen 518055,China [2]Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin 150001,China

出　　处：《Science China(Information Sciences)》2024年第2期114-139,共26页中国科学（信息科学）（英文版）

基　　金：This work has been partially supported by Shenzhen Key Laboratory of Control Theory and Intelligent Systems(Grant No.ZDSYS20220330161800001);Major Program of National Natural Science Foundation of China(Grant Nos.61690210,61690212);National Natural Science Foundation of China(Grant No.61333003);Science Center Program of the National Natural Science Foundation of China(Grant No.62188101).

摘　　要：In this paper,a type of general nonholonomic systems is proposed,which contains both the Brockett’s two example systems,and their extended n-dimensional chained forms,as special cases.For the stabilization of such systems,a stabilizing controller is proposed based on the fully actuated system(FAS)approach,which is discontinuous at the origin but time-invariant when the open-loop system is time-invariant,and drives the feasible trajectories of the system to the origin exponentially.Furthermore,the proposed FAS approach is also extended to the sub-normal system case and the time-delay system case.

关 键 词：nonholonomic systems feedback stabilization exponential convergence sub-fully actuated systems time-delay systems 

分 类 号：O231[理学—运筹学与控制论]