| 动态反馈的一类不确定非完整移动机器人有限时间镇定 |
| |
| 引用本文： | 陈华,陈怡,王朝立,杜庆辉,陈俊风.动态反馈的一类不确定非完整移动机器人有限时间镇定[J].上海大学学报(自然科学版),2014,20(4):404-410. |
| |
| 作者姓名： | 陈华 陈怡 王朝立 杜庆辉 陈俊风 |
| |
| 作者单位： | 1. 河海大学数理教学部, 江苏常州213022; 2. 河海大学物联网工程学院, 江苏常州213022;
3. 上海理工大学光电信息与计算机工程学院, 上海200093 |
| |
| 基金项目： | 国家自然科学基金资助项目(61304004, 61374040); 中国博士后基金资助项目(2013M531263); 江苏省博士后基金资助项目(1302140C); 上海市教委科研创新基金资助项目(13ZZ115); 中央高校河海大学业务费资助项目(2013B18614) |
| |
| 摘 要： | 针对一类非完整移动机器人, 通过输入-状态变换得到一个三输入链式系统, 考虑其在含有不确定控制方向和外部扰动时动态反馈的有限时间镇定问题. 运用非光滑控制理论, 给出了新型切换设计算法, 并得到了不连续的三步切换控制器, 使得相应的闭环系统全局有限时间镇定. 通过数值仿真验证了该控制策略的有效性.
|
| 关 键 词： | 链式系统 动态反馈 非完整移动机器人 切换控制 有限时间镇定 |
| 收稿时间： | 2014-03-04 |
Finite-Time Stabilization for a Class of Uncertain Nonholonomic Mobile Robots Based on Dynamic Feedback |
| |
| CHEN Hua,CHEN Yi,WANG Chao-li,DU Qing-hui,CHEN Jun-feng.Finite-Time Stabilization for a Class of Uncertain Nonholonomic Mobile Robots Based on Dynamic Feedback[J].Journal of Shanghai University(Natural Science),2014,20(4):404-410. |
| |
| Authors: | CHEN Hua CHEN Yi WANG Chao-li DU Qing-hui CHEN Jun-feng |
| |
| Affiliation: | 1. Mathematics and Physics Department, Hohai University, Changzhou 213022, Jiangsu, China;
2. College of IOT Engineering, Hohai University, Changzhou 213022, Jiangsu, China;
3. School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and;
Technology, Shanghai 200093, China |
| |
| Abstract: | This paper considers a finite-time stabilization problem for a class of uncertain nonholonomic mobile robots with dynamic inputs. Using input-state transformation, a three-input chained systems can be obtained. A discontinuous three-step switching controller is presented by applying the theory of finite-time stability and a new switching design algorithm, which can stabilize the closed-loop system to the original equilibrium point in a finite time interval. Simulation results show effectiveness of the proposed approach. |
| |
| Keywords: | chained form system dynamic feedback finitetime stabilization nonholonomic mobile robot switching control |
| 本文献已被 CNKI 等数据库收录！ |
| 点击此处可从《上海大学学报(自然科学版)》浏览原始摘要信息 |
|
点击此处可从《上海大学学报(自然科学版)》下载全文 |
|
