| 一类非完整系统的输出反馈控制问题研究 |
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| 引用本文： | 鞠桂玲,孙炜海,罗俊芝,马润波,邓拥新.一类非完整系统的输出反馈控制问题研究[J].装甲兵工程学院学报,2009,23(6):67-70. |
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| 作者姓名： | 鞠桂玲 孙炜海 罗俊芝 马润波 邓拥新 |
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| 作者单位： | 1. 装甲兵工程学院,非线性科学研究所,北京,100072
2. 装甲兵工程学院,机械工程系,北京,100072 |
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| 摘 要： | 针对一类具有虚拟控制方向和非线性不确定项的非完整系统,研究了其输出反馈控制器的设计问题。采用状态转换技术和反推方法,设计了只依赖于输出值的输出反馈控制器。同时为了处理初值为零的情况,提出了基于第一个子系统输出值的切换控制策略,通过仿真算例说明了控制器的有效性。
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| 关 键 词： | 状态转换 反推技术 切换控制策略 |
Study on the Output Feedback Control of Non-holonomic Systems |
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| JU Gui-ling,SUN Wei-hai,LUO Jun-zhi,MA Run-bo,DENG Yong-xin.Study on the Output Feedback Control of Non-holonomic Systems[J].Journal of Armored Force Engineering Institute,2009,23(6):67-70. |
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| Authors: | JU Gui-ling SUN Wei-hai LUO Jun-zhi MA Run-bo DENG Yong-xin |
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| Institution: | 1. Institute of Nonlinear Science, Academy of Armored Force Engineering, Beijing 100072, China; 2Department of Mechanical Engineering, Academy of Armored Force Engineering, Beijing 100072, China) |
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| Abstract: | This paper deals with the output feedback control problem for non-holonomic systems with nonlinear uncertainties and unknown virtual control directions.The state switching technique and back-stepping approach is used to design the output feedback controller.In order to make the state switching effective,the switching control strategy based on the output measurement of the first subsystem is employed. |
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| Keywords: | state switching back-stepping technique switching control strategy |
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