| 引用本文: | 郭清傅，郭淑娟，温香彩，刘永清.非完整机械控制系统的模型参考变结构控制[J].控制理论与应用,1999,16(3):385~389.[点击复制] |
| Guo Qingfu，Guo shujuan，Wen Xiangcai，Liu Yongqing.Model Reference Variable Structure Control for Non-Holonomic Mechanical Control Sysytems[J].Control Theory and Technology,1999,16(3):385~389.[点击复制] |
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| 非完整机械控制系统的模型参考变结构控制 |
| Model Reference Variable Structure Control for Non-Holonomic Mechanical Control Sysytems |
| 摘要点击 1012 全文点击 515 投稿时间：1996-09-25 修订日期：1997-10-20 |
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| DOI编号 |
| 1999,16(3):385-389 |
| 中文关键词 非完整机械系统 解耦 跟踪 变结构控制 |
| 英文关键词 non-holonomic mechanical system decoupling tracking variable structure control |
| 基金项目 |
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| 中文摘要 |
| 在参数扰动和外部干扰情况下，对非完整机械控制系设计了变结构模型参考跟踪控制器。基于适当的矩阵分解、非线性控制理论中的输入-输出解耦概念及变结构控制理论，为解决干扰非完整机械控制系统的跟踪问题提出了三级控制设计过程。最后通过一非完整机械控制系统的例子（在给定平面上运动的垂直轮）的计算机仿真说明了提出方法的优越性。 |
| 英文摘要 |
| A variable structure model reference tracking controller for non-holonomic mechanical systems is designed under parametric perturbation and external disturbance. A design procedure with three-stage control is developed to solve the tracking problem for perturbed non-holonomic mechanical control systems based on a proper matrix decomposition, the concept of input/output decoupling in nonlinear control theory, and the theory of variable structure control. Finally, a typical non-holonomic example——a vertical wheel moving on a given plane——is given with computer simulation to illustrate the significant advantage of the proposed method. |