带有一拖斗汽车的不连续控制和时变光滑控制
彭奇斌康剑灵殷年龙
东华大学理学院
Abstract: 针对两输入五自由度的带有一拖斗汽车在平衡点位形的反馈镇定问题,给出两种镇定控制方法——不连续控制和时变光滑控制。利用坐标-输入变换把原系统变为与之微分同胚的链式形式,只需镇定链式系统,可实现原系统的镇定。基于过程的不连续状态反馈控制要求系统初始状态满足一定条件,而时变光滑控制律能实现全局指数收敛。数值仿真结果说明了两种控制方法都能够使汽车的位形指数收敛到平衡点。
- DOI:
10.13535/j.cnki.11-4406/n.2012.29.020
- Series:
- Subject:
- Classification Code:
U469.6
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