引用本文:马保离.一类二阶非完整系统的镇定[J].控制理论与应用,2003,20(4):565~568.[点击复制]
MA Bao-li.Stabilization of a class of second-order nonholonomic systems[J].Control Theory and Technology,2003,20(4):565~568.[点击复制]
一类二阶非完整系统的镇定
Stabilization of a class of second-order nonholonomic systems
摘要点击 1534  全文点击 1814  投稿时间：2001-09-28  修订日期：2002-12-17
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DOI编号  
  2003,20(4):565-568
中文关键词  非完整控制  二阶链式标准型  欠驱动机器人系统  时变光滑指数镇定
英文关键词  nonholonomic control  second-order canonical chained form  underactuated robot systems  smooth time-vary-ing exponential stabilization
基金项目  国家自然科学基金(60274005).
作者单位E-mail
马保离 北京航空航天大学 第七研究所, 北京 100083 马保离E-mail: ma-baoli@yohoo.com. 
中文摘要
      研究一类二阶非完整系统的镇定问题. 通过状态和输入反馈变换将系统模型转换为二阶链式标准型, 并对标准型给出一种时变光滑指数镇定控制律. 所得结果应用于欠驱动平面刚体的镇定.
英文摘要
      Stabilization of a class of second-order nonholonomic systems was investigated. The state and input feedback transformations were constructed explicitly to convert the second-order nonholonomic system to second-order canonical chained form. Smooth time-varying exponential control law was proposed to stabilize the second-order canonical chained form. The obtained result was applied to stabilize a planar underactuated rigid body.