基于MATLAB的非完整动力学系统跟踪控制的动态仿真

本文详细阐述了如何用MATLAB进行非完整动力学系统轨迹跟踪控制的仿真。基本思想是将MATLAB中的Simulink和S函数相结合构造了非完整动力学系统的模型模块和控制器模块,将它们搭成仿真模型,其中包含了难于处理的非完整约束问题。该模型清晰地表达了系统中所有变量之间的数学关系,仿真结果表明该模型的有效性和可行性。本文为非完整动力学系统跟踪控制的仿真提供了新的途径,对非完整系统的设计和优化有一定的参考意义。

MATLAB-Based Dynamic Simulation of Tracking Control of Nonholonomic Dynamic Systems

The simulation problem of tracking control of nonholonomic dynamic systems is addressed. The simulation model consists of model module, controller module and connection module connecting model and controller. The three parts are built by using the combination of Simulink and S-function in MATLAB and the connection module exhibited clearly nonholonomic constraint relation which is difficult to handle. The simulation results were given to demonstrate the effectiveness and feasibility of the proposed scheme. The proposed model provides a new approach to simulate the tracking control problem of nonholonomic dynamic systems. It is also helpful to design and optimization of nonholonomic dynamic systems.