38885

Автор(ы): 

Автор(ов): 

1

Параметры публикации

Тип публикации: 

Статья в журнале/сборнике

Название: 

Synthesis of a Stabilizing Feedback for a Wheeled Robot with Constrained Control Resource

ISBN/ISSN: 

0005-1179

Наименование источника: 

  • Automation and Remote Control

Обозначение и номер тома: 

vol. 77, no. 4

Город: 

  • Москва

Издательство: 

  • PLEIADES PUBLISHING Ltd.

Год издания: 

2016

Страницы: 

578-593
Аннотация
Stabilization of motion of a wheeled robot with constrained control resource by means of a continuous feedback linearizing the closed-loop system in a neighborhood of the target path is considered. We pose the problem of finding the feedback coefficients such that the phase portrait of the nonlinear closed-loop system is topologically equivalent to that of a linear system with a stable node, with the asymptotic rate of decrease of the deviation from the target path being as high as possible. On this family, we pose the problem of minimization of ``overshooting'' for arbitrary initial conditions. The solution of this optimization problem is proved to be a limit discontinuous control law. A hybrid control law is proposed that, on the one hand, ensures the desired properties of the phase portrait and minimal overshooting and, on the other hand, does not result in a chattering inherent in systems with discontinuous feedbacks.

Библиографическая ссылка: 

Пестерев А.В. Synthesis of a Stabilizing Feedback for a Wheeled Robot with Constrained Control Resource // Automation and Remote Control. 2016. vol. 77, no. 4. С. 578-593.

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