摘要
针对一类可化为二阶链式标准型的非完整系统,设计了全局光滑时变指数镇定控制律,使得系统的各状态指数收敛到期望的平衡点.并将所得结果应用于带有一个自由关节的三连杆平面机械臂的镇定,仿真结果表明部分状态和控制器的振幅明显减小,局部特性优于以往的控制器.
A smooth time-varying exponential control law is designed to stabilize globally a class of nonholonomic systems that are transformed into the second order canonical chained form. All the states of the system converge to the desired equilibrium point exponentially. The obtained result is applied to stabilizing a 3-1ink planar manipulator with a free joint. The simulation result shows that part of states and controls decrease obviously and local characteristics are better than the previous controllers.
出处
《信息与控制》
CSCD
北大核心
2013年第5期542-546,共5页
Information and Control
基金
国家自然科学基金资助项目(61104125)
上海市教委"曙光计划"资助项目(07SG38)
中央高校科研业务经费资助项目(11D10911)
关键词
二阶链式系统
光滑时变指数镇定
三连杆机械臂
second-order chained system
smooth time-varying exponential stabilization
3 link manipulator
