MATLAB一类非完整系统镇定控制问题研究仿真
关键词：非完整系统镇定，不连续时不变控制律，连续时变控制律，切换控制律
毕业设计说明书（论文）外文摘要
Title：Exponential Stabilization of Nonholonomic Chained Systems
Abstract
Nonholonomic systems are nonlinear systems with nonholonomic constraints. They often exist in wheeled mobile robots, flexible manipulators, artificial satellites, aircrafts etc. with the development of technology, control of nonholonomic system will be more important in both theory and engineering. Due to the existence of nonholonomic constraints, this class of systems does not sarisfy the Brockett's necessary smooth feedback stabilization condition．So the research on the feedback stabilizing control of nonholonomic system is of great significance in both theoy end application．In this paper we focus on three controllers for nonholonomic systems, non-continuous and time-invaring feedback controller, slippery and Time-varying feedback controller and switch feedback controller.In order to study nonhonomic systems, we transfer them into chained system which is one of most important types of nonhonomic systems. The effectiveness of the three controllers of chained systems are shown through simulation．
Keywords Nonholonomic chained system, non-continuous and time-invaring feedback controller, slippery and
Time-varying feedback controller, switch feedback controller
目次
1 引言 2
1.1 非完整系统简介 2
1.2 非完整系统控制问题研究现状 2
1.3 本文主要工作与内容安排 4
2 有关于非完整系统镇定问题介绍 5
2.1 非完整系统的数学模型 5
2.2 非完整系统判据及能控性 6
2.3 非完整系可镇定的必要条件 7
2.4 链式系统的数学模型 9
2.5 非完整链式系统镇定问题描述 9
2.6 非完整系统设计思路介绍 10
3 一类非连续时不变控制律 11
3.1 控制器设计 11
3.2 证明 12
3.3 仿真实验 13
3.4 特殊情况下的处理和仿真 15
3.5 实验结论 17
4 一类连续时变控制律 17
4.1 控制器设计 17
4.2 证明 18
4.3 实验仿真 19
4.4 实验结论 23
5 非完整链式系统切换控制律 23
5.1 控制器设计推导 23
5.2 实验仿真 25
5.3 实验结论 27
结论 28
致谢 29