非完整链式系统的非正则反馈全局K指数镇定
Science & Technology Review（2015）
Abstract
利用非正则反馈线性化,对非完整链式系统进行反馈镇定.构造一种不连续非线性变换,将非完整链式系统转换成线性系统,以便使用线性系统理论进行控制律设计.针对高维非完整链式系统,显式构造出一个方便易用的不变集和切换规则.所获得的不连续控制律保证了闭环系统的指数收敛速度和控制输入的有界性.仿真结果验证了控制方案的有效性.
MoreKey words
nonholonomic chained systems,stabilization,irregular feedback linearization,discontinuous control
AI Read Science
Must-Reading Tree
Example
Generate MRT to find the research sequence of this paper
Chat Paper
Summary is being generated by the instructions you defined