A FAS approach for stabilization of generalized chained forms:part 2.Continuous control laws  

作　　者：Guang-Ren DUAN 

机构地区：[1]Shenzhen Key Laboratory of Control Theory and Intelligent Systems,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3期110-131,共22页中国科学（信息科学）（英文版）

基　　金：supported by 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,continuous time-varying stabilizing controllers for the type of general nonholonomic systems proposed and treated in part 1 are designed using the fully actuated system(FAS)approach.The key step is to differentiate the first scalar equation,and by control of the obtained second-order scalar system,a proportional plus integral feedback form for the first control variable is obtained.With the solution to this designed second-order scalar system,the rest equations in the nonholonomic system form an independent time-varying subsystem which is then handled by the FAS approach.The overall designed controller contains an almost arbitrarily chosen design parameter,and is proven to guarantee the uniformly and globally exponential stability of the closed-loop system.The proposed approach is simple and effective,and is demonstrated with a practical example of ship control.

关 键 词：nonholonomic systems feedback stabilization fully actuated systems Lyapunov stability continuous controllers 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]