Stabilizing the second-order nonholonomic systems with chained form by finite-time stabilizing controllers | |
He, Guangping ; Zhang, Chenghao ; Sun, Wei ; Geng, Zhiyong | |
刊名 | ROBOTICA |
2016 | |
关键词 | Underactuation Nonholonomic constraints Global stability Finite-time Control EXPONENTIAL STABILIZATION NONLINEAR-SYSTEMS UNDERACTUATED MANIPULATOR HOMOGENEOUS FEEDBACK APPROXIMATIONS NILPOTENT |
DOI | 10.1017/S0263574714002951 |
英文摘要 | An underactuated mechanical system is generally a good test bed for advanced nonlinear controllers and can be applied to design a novel mechanical system with better energy efficiency and good controllability. It has been shown that the dynamics of many underactuated mechanical systems could be transformed into the chained canonical form. To improve the performance of the controllers presented in the literature, a novel controller design method is proposed in this paper. It is shown that the set-point stabilization problem of the second-order chained form systems can be changed into a trajectory-tracking problem based on the nonsmooth Holder continuous feedback. By designing the tracked trajectory, the presented controller permits the achievement of exponential stability. Some numerical simulations demonstrate the stability of the proposed controller for an underactuated Hovercraft system.; Nature Science Foundation of China [51305005, 51375016]; Beijing Nature Science Foundation [3152009]; SCI(E); EI; ARTICLE; hegp55@126.com; 10; 2344-2367; 34 |
语种 | 英语 |
内容类型 | 期刊论文 |
源URL | [http://ir.pku.edu.cn/handle/20.500.11897/449996] |
专题 | 工学院 |
推荐引用方式 GB/T 7714 | He, Guangping,Zhang, Chenghao,Sun, Wei,et al. Stabilizing the second-order nonholonomic systems with chained form by finite-time stabilizing controllers[J]. ROBOTICA,2016. |
APA | He, Guangping,Zhang, Chenghao,Sun, Wei,&Geng, Zhiyong.(2016).Stabilizing the second-order nonholonomic systems with chained form by finite-time stabilizing controllers.ROBOTICA. |
MLA | He, Guangping,et al."Stabilizing the second-order nonholonomic systems with chained form by finite-time stabilizing controllers".ROBOTICA (2016). |
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