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Global K-exponential stabilization of nonholonomic chained systems based on nonregular feedback
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Science & Technology Review | 2015, 33(9) : 13 - 17
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Science & Technology Review | 2015, 33(9): 13-17
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Global K-exponential stabilization of nonholonomic chained systems based on nonregular feedback
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WANG Tingting1, ZHAO Wanchun2, SHAO Keyong1
Affiliations
    1. School of Electrical Engineering and Information, Northeast Petroleum University, Daqing 163318, China;
    2. School of Petroleum Engineering, Northeast Petroleum University, Daqing 163318, China
Published: 2015-05-13 doi: 10.3981/j.issn.1000-7857.2015.09.001
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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.
nonholonomic chained systems  /  stabilization  /  irregular feedback linearization  /  discontinuous control
王婷婷, 赵万春, 邵克勇. 非完整链式系统的非正则反馈全局K指数镇定. 科技导报, 2015 , 33 (9) : 13 -17 . DOI: 10.3981/j.issn.1000-7857.2015.09.001
WANG Tingting, ZHAO Wanchun, SHAO Keyong. Global K-exponential stabilization of nonholonomic chained systems based on nonregular feedback[J]. Science & Technology Review, 2015 , 33 (9) : 13 -17 . DOI: 10.3981/j.issn.1000-7857.2015.09.001
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Article Info
doi: 10.3981/j.issn.1000-7857.2015.09.001
  • Receive Date：2014-04-06
  • Online Date：2015-05-15
  • Published：2015-05-13
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  • Received：2014-04-06
  • Revised：2014-11-18
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多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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