文章基本信息

标题：Switched Passivity—Based Control of the Chaplygin Sleigh
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作者：Joel Ferguson ; Joel Ferguson ; Alejandro Donaire 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：18
页码：1012-1017
DOI：10.1016/j.ifacol.2016.10.300
语种：English
出版社：Elsevier
摘要：Abstract: In this paper, a switched controller for the Chaplygin Sleigh system based on passivity and energy shaping is presented. The Chaplygin sleigh cannot be asymptotically stabilised with a smooth control law, since Brockett’s necessary conditions for smooth stabilisation is not satisfied. To asymptotically stabilise the origin, two potential energy shaping control laws are developed that render the system asymptotically stable to two equilibrium manifolds, which intersect at the origin. A switching strategy between the energy shaping controllers is derived that ensures the system converges to the intersection of the equilibrium manifolds.
关键词：KeywordsConstraintsNonholonomicPassivity Based ControlPath planningPort-Hamiltonian