CAJ | 학술논문

针对一类可化为链式标准型的非完整系统的有限时间镇定问题,提出了一种基于切换控制策略的有限时间镇定控制器,并给出了控制器参数的选择条件.该控制器利用切换控制的思想,根据系统的状态变化,通过有限次切换,可使得非完整链式系统各状态在有限时间内从任意的非平衡位置收敛至平衡位置.最后给出了应用该控制器控制非完整链式系统的具体形式,通过仿真实验验证了所设计的有限时间镇定控制器的有效性.
침대일류가화위련식표준형적비완정계통적유한시간진정문제,제출료일충기우절환공제책략적유한시간진정공제기,병급출료공제기삼수적선택조건.해공제기이용절환공제적사상,근거계통적상태변화,통과유한차절환,가사득비완정련식계통각상태재유한시간내종임의적비평형위치수렴지평형위치.최후급출료응용해공제기공제비완정련식계통적구체형식,통과방진실험험증료소설계적유한시간진정공제기적유효성.
Aimed at the finite time stabilization problem of a kind of nonholonomic system that is transformed into a chained form system, a finite-time stabilization controller is proposed based on switch control theory, and the parameter selected conditions of the controller are also given. According to the state of system, the proposed controller makes every state of the nonholonomic chained system convege from any unbalanced state to the balanced state after finite time through finite switch. Finally, the effectiveness of the finite time stabilization controller using the switch method is shown by a simulation test.