具有时变漂移的非完整系统的指数镇定
最优化与控制
2020-02-07 v1
摘要
考虑一类具有有界时变漂移的非线性控制仿射系统。假设控制向量场及其迭代 Lie 括号在原点邻域内满足 Hörmander 条件。然后利用周期时变反馈控制处理指数镇定问题。在适当的非共振假设下，给出了此类控制器的显式参数化。研究表明，只要周期足够小，这些控制器就能保证闭环系统的指数稳定性。所提出的控制设计方法被应用于水下航行器模型和前轮驱动汽车的镇定。
引用
@article{arxiv.1907.05694,
title = {On exponential stabilization of nonholonomic systems with time-varying drift},
author = {Victoria Grushkovskaya and Alexander Zuyev},
journal= {arXiv preprint arXiv:1907.05694},
year = {2020}
}
备注
This is the author's version of the manuscript accepted for publication in the Proceedings of the Joint 8th IFAC Symposium on Mechatronic Systems and 11th IFAC Symposium on Nonlinear Control Systems (MECHATRONICS & NOLCOS 2019)