Time‐varying linear controllers for exponential tracking of non‐holonomic systems in chained form
Time‐varying linear controllers for exponential tracking of non‐holonomic systems in chained form
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DOI：
10.1002/rnc.1149
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发表时间：
2007-05
影响因子：
3.9
通讯作者：
Yu-Ping Tian;Ke-cai Cao
中科院分区：
文献类型：
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作者：
Yu-Ping Tian;Ke-cai Cao
在本文中，作者解决了链式非完整系统的跟踪问题，目标信号可能指数衰减到零。通过引入时变坐标变换并使用级联设计方法，构造了平滑的时变控制器，使得跟踪误差动态全局指数稳定。结果表明，即使对于链式系统的全局𝒦指数跟踪，参考信号的持续激励或不收敛到零的流行条件也是不必要的。通过在非完整约束下对两个基准机械系统进行仿真，验证了所提出的控制器的有效性。版权所有 © 2006 约翰·威利父子有限公司
In this paper, the authors address the tracking problem for non‐holonomic systems in chained form with target signals that may exponentially decay to zero. By introducing a time‐varying co‐ordinate transformation and using the cascade‐design approach, smooth time‐varying controllers are constructed, which render the tracking‐error dynamics globally 𝒦‐exponentially stable. The result shows that the popular condition of persistent excitation or not converging to zero for the reference signals is not necessary even for the globally 𝒦‐exponential tracking of the chained‐form system. The effectiveness of the proposed controller is validated by simulation of two benchmark mechanical systems under non‐holonomic constraints. Copyright © 2006 John Wiley & Sons, Ltd.