利用非正则反馈线性化对非完整链式系统进行反馈镇定。构造一种不连续非线性变换, 将非完整链式系统转换成线性系统, 以便使用线性系统理论进行控制律设计。针对高维非完整链式系统, 显式构造出一个方便易用的不变集和切换规则。所获得的不连续控制律保证了闭环系统的指数收敛速度和控制输入的有界性。仿真结果验证了控制方案的有效性。
This paper uses irregular feedback linearization to stabilize nonholonomic chained systems. A discontinuous nonlinear transformation is constructed to change nonholonomic chained systems into linear systems,so that it possible to design feedback control laws using theory of linear systems. Then, a convenient invariant set and a switching rule are explicitly constructed for the high-dimension nonholonomic chained systems. The obtained discontinuous control laws can guarantee convergence of the close-loop system with an exponential rate and bounded inputs. Finally, simulation is provided to justify the effectiveness of the approach.
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