Multirate Sampled Data Control of Nonholonomic Systems in Time-State Control Form Based on Periodic Switching
Multirate Sampled Data Control of Nonholonomic Systems in Time-State Control Form Based on Periodic Switching
复制标题
基于周期切换的时间状态控制形式的非完整系统多速率采样数据控制
DOI：
10.9746/sicetr1965.38.369
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
Y. Funahashi
中科院分区：
文献类型：
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作者：
M. Yamada;Shinichi Ohta;Yuichiro Syumiya;Y. Funahashi
针对一类时间状态控制形式的非完整系统，提出了一种基于多速率采样数据控制和周期切换的反馈控制方法。引入坐标变换，将带有零阶保持器和采样器的离散非完整系统转化为线性定常离散系统。并给出了一个简单的充要条件来保证变换后的线性系统的可控性。捐款情况如下。首先，将非完整系统的寻控制器问题简化为众所周知的极点配置问题。给出了一种简单、明确的稳定控制器设计方法。其次，提出了一个二次调节器问题，并求解了一个由状态和控制输入组成的代价函数最小的控制器。将此最小化问题简化为线性二次型调节器（LQR）问题，并给出了一种最优反馈增益的简单设计方法。最后，对两轮车辆进行了仿真，验证了该方法的有效性。
This paper proposes a new feedback control system based on a multirate sampled data control and a periodic switching for a class of nonholonomic systems in time-state control form. A coordinate transformation is introduced to transform the discretized nonholonomic system with a zero order hold and a sampler into a linear time-invariant discrete-time system. Moreover, a simple necessary and sufficient condition is derived to assure the controllability of the transformed linear system. The contributions are as follows. First, the problem of finding a controller to stabilize the nonholonomic systems is reduced to the well-known pole assignment problem. As a result, a simple and explicit design method of the stabilizing controllers is obtained. Secondly, a quadratic regulator problem is posed and is solved of finding a controller to minimize a cost functional consisting of the state and the control input. This minimization problem is reduced to a linear quadratic regulator (LQR) problem, and a simple design method of the optimal feedback gain is presented. Finally, a simulation for a two-wheeled vehicle demonstrates the effectiveness of the proposed method.