Switched feedback control for first-order symmetric affine systems via time-state control form
Switched feedback control for first-order symmetric affine systems via time-state control form
复制标题
基于时间状态控制形式的一阶对称仿射系统的切换反馈控制
DOI：
10.1109/acc.2002.1024022
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
S. Hara
中科院分区：
文献类型：
--
作者：
Y. Iwatani;M. Ishikawa;S. Hara
本文针对一类对称仿射系统提出了一种切换控制策略，该系统的可访问性李代数由输入向量场及其一阶李括号跨越。这里的关键思想是将给定系统分解为多个（链式）子系统，然后按顺序对这些子系统应用传统的控制方法。对于常规部分，我们采用时间状态控制方法。所提出的策略保证状态收敛到任意给定的原点邻域。最后，通过一个数值例子，我们证明了一种可以用应用于该策略的类中的系统来近似的新型移动机器人也是有效的。
This paper proposes a switching control strategy for a class of symmetric affine systems whose accessibility Lie algebras are spanned by the input vector fields and their first order Lie brackets. The key idea here is to decompose a given system into several (chained) subsystems, and then to apply a conventional control method for these subsystems in sequence. As for the conventional part, we adopt the time-state control method. The proposed strategy guarantees convergence of the state to an arbitrarily given neighborhood of the origin. Finally, with a numerical example, we show that a new type of mobile robot which can be approximated by a system in the class applied to the strategy is valid as well.