文章基本信息

标题：Discontinuous energy shaping control of the Chaplygin sleigh
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作者：Joel Ferguson ; Alejandro Donaire ; Richard H. Middleton 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：3
页码：211-216
DOI：10.1016/j.ifacol.2018.06.056
语种：English
出版社：Elsevier
摘要：AbstractIn this paper we present an energy shaping control law for set-point regulation of the Chaplygin sleigh. It is well known that nonholonomic mechanical systems cannot be asymptotically stabilised using smooth control laws as they do no satisfy Brockett’s necessary condition for smooth stabilisation. Here, we propose a discontinuous control law that can be interpreted as a potential energy shaping and damping injection controller. The proposed controller is shown to be robust against the parameters of both the inertia matrix and the damping structure of the open-loop system.
关键词：KeywordsNonholonomic systemsport-Hamiltonian systemsdiscontinuous controlrobust control