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Details van artikel 44 van 67 gevonden artikelen
| Titel: |
Predictive variable structure control of nonholonomic chained systems |
| Auteur: |
Huo, Wei |
| Verschenen in: |
International journal of computer mathematics |
| Paginering: | Jaargang 85 (2008) nr. 6 pagina's 949-960 |
| Jaar: |
2008-06 |
| Inhoud: |
A novel variable structure control strategy for a class of second-order nonlinear systems is presented based on the phase-plane analysis and computing prediction. In this strategy control is switched by online prediction of the trajectory behaviour of the closed-loop system; control switching does not occur continuously, so the chattering that occurs in conventional variable structure control methods can be avoided completely. It is proved that the states of the closed-loop system can be stabilized to the origin exponentially and the trajectory of the closed-loop system does not overshoot in general. As an application, the proposed predictive variable structure control strategy is used to stabilize nonholonomic systems in chained form. An example of a wheeled mobile robot is studied and associated simulation results demonstrate the effectiveness of the proposed control strategy. |
| Uitgever: |
Taylor & Francis |
| Bronbestand: |
Elektronische Wetenschappelijke Tijdschriften |
Details van artikel 44 van 67 gevonden artikelen
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