| 引用本文: | 董文杰，霍 杰.不确定非完整动力学系统的时变自适应控制[J].控制理论与应用,1999,16(3):325~328.[点击复制] |
| Dong Wenjie and Huo Wei.Time-Varying Adaptive Control of Uncertain Dynamic Nonholonomic Systems[J].Control Theory and Technology,1999,16(3):325~328.[点击复制] |
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| 不确定非完整动力学系统的时变自适应控制 |
| Time-Varying Adaptive Control of Uncertain Dynamic Nonholonomic Systems |
| 摘要点击 1180 全文点击 512 投稿时间：1997-10-23 修订日期：1998-06-29 |
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| DOI编号 |
| 1999,16(3):325-328 |
| 中文关键词 非完整动力学系统 不确定非线性系统 自适应控制 全局镇定 |
| 英文关键词 dynamic nonholonomic systems uncertain nonlinear systems adaptive control global stabilization |
| 基金项目 |
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| 中文摘要 |
| 研究了具有未知惯性参数非完整动力学系统的镇定问题。对于一类非完整系统，给出了一种新的时变自适应律镇定律。不同于其它文中的控制律，该镇定律不是高增益的，文中也讨论了一般不确定非完整动力学系统的镇定问题，证明了时变周期镇定律的存在性。一个简单的例子说明了如何应用文中结果设计镇定律，仿真结果表明了本文所提设计方法的有效性。 |
| 英文摘要 |
| This paper considers the stabilization problem of the dynamic nonholonomic systems with unknown constant inertia parameters. New periodic time-varying adaptive stabilizing laws are presented for a class of the systems. Unlike the feedback laws in other papers, they are not high-gain ones. The stabilization problem of the general uncertain dynamic nonholonomic system is also addressed, and the existence of the periodic time-varying adaptive stabilizing law is proved. Simulation results of an example show that the approach is effective. |