Constrained minimum-time-oriented feedback control for the stabilization of nonholonomic systems in chained form

被引：14
|
作者：
Alamir, M [1 ]
Marchand, N
机构：
[1] CNRS, UMR 5528, Lab Automat Grenoble, St Martin Dheres, France
[2] Lab Signaux & Syst, Gif Sur Yvette, France
来源：
JOURNAL OF OPTIMIZATION THEORY AND APPLICATIONS | 2003年 / 118卷 / 02期
关键词：
nonholonomic systems; sampled control; saturated control; stabilization; receding-horizon control;
D O I：
10.1023/A:1025447419855
中图分类号：
C93 [管理学]; O22 [运筹学];
学科分类号：
070105 ; 12 ; 1201 ; 1202 ; 120202 ;
摘要：
In this paper, a discontinuous state-feedback law is proposed for the stabilization of nonholonomic systems in power form. The feedback law is based on a receding-horizon strategy in which the open-loop optimization problem is a minimum-time steering process. Suboptimal formulations are used explicitly to meet the real-time implementability requirements. Stability is established in a sampled-data context and illustrative simulations are given to show the effectiveness and the real-time implementability of the proposed scheme.
引用
收藏
页码：229 / 244
页数：16
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