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chained-form system
相关语句
  相似匹配句对
     The Identity of System Form
     系统形态的同一性问题
短句来源
     system).
     系统)。
短句来源
     Exploration on System Form Analysis
     系统形态分析探讨
短句来源
     That system on .
     该系统基于.
短句来源
     On the Form-Similarity of System Thinking
     试论系统思维的同形性
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This paper investigates the practical stabilizing problem of chained systems with state constraints. Based on the peculiar structure of the chained form system, a new two_step controller is presented, which can stabilize the states of the system to an arbitrarily small neighborhood of its equilibrium in a finite time. In addition, if the initial value of each state is less than or equal to some positive number M, all states are less then or equal to (1+ε)M for an arbitrary positive ε except...

This paper investigates the practical stabilizing problem of chained systems with state constraints. Based on the peculiar structure of the chained form system, a new two_step controller is presented, which can stabilize the states of the system to an arbitrarily small neighborhood of its equilibrium in a finite time. In addition, if the initial value of each state is less than or equal to some positive number M, all states are less then or equal to (1+ε)M for an arbitrary positive ε except only one state which exponentially converges to zero. The application of it to a nonholonomic wheeled mobile robot is described. Simulation result shows that the proposed controller is effective.

考虑了状态受限的非完整单链式系统的实际镇定问题 .利用链式系统的特殊结构设计了两步控制算法 .该方法能够使闭环系统的状态最终收敛到原点的任意小邻域中 ,且若系统初值小于任意正数M ,那么除了一个收敛到零的状态变量外 ,其余状态变量在整个实际镇定过程中均小于正数 (1+ε)M ,其中ε可事先任意小 .最后对平面移动机器人进行了仿真 ,验证了所给方法的有效性

The stabilization of nonholonomic dynamic systems with bounded inputs is studied. It is demonstrated that under appropriate assumptions Lagrange's equations, including classical nonholonomic constraints, can be transformed to the extended chained form system. By using the sliding mode approach and a multi step control strategy, a new controller is presented, which can not only satisfy the control constraints but also stabilize the system to an arbitrarily small ε neighborhood about...

The stabilization of nonholonomic dynamic systems with bounded inputs is studied. It is demonstrated that under appropriate assumptions Lagrange's equations, including classical nonholonomic constraints, can be transformed to the extended chained form system. By using the sliding mode approach and a multi step control strategy, a new controller is presented, which can not only satisfy the control constraints but also stabilize the system to an arbitrarily small ε neighborhood about its equilibrium in a finite time. The proposed method is used to stabilize a mobile robot and the simulation result shows that the approach is effective.

考虑了控制受限的一类非完整动力学系统的镇定问题 .在一定条件下经典非完整约束下的 Lagrange方程可化为扩展的链式系统 .利用滑动模态的思想和多步控制策略 ,设计了不连续反馈镇定律 ,该镇定律一方面满足控制受限条件 ,另一方面使得闭环系统的状态收敛到预先给定的原点的任意小的 ε邻域中 .最后对移动机器人进行了仿真 ,验证了该方法的有效性

We presented a method of motion planning with obstacles constraint for the chained-form of nonholonomic mobile robot. Due to it can conveniently use the mixed piecewise constant and polynomial input to drive chained-form systems to desirable destination, a optimal controller was designed to make robot avoid the obstacle under satisfied a performance function, the simulation results show the effectiveness of the method.

本文针对非完整移动机器人的链式形式 ,在存在障碍约束时提出了一种运动规划方法。由于其链式形式可以方便地采用分段常值输入和多项式输入来实现其运动规划 ,因此在满足一定的性能指标的前提下可以找到一种最优的控制律来避开障碍物而到达目标 ,仿真的结果也证明了该方法的有效性。

 
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