Nonholonomic Systems Limited Time Switch Control And Applications

Nonholonomic systems represent a wide class of mechanical systems. The research on nonholonomic control systems shows high significance both in theory and application. The thesis gives a summary introduction to nonholonomic control systems, including relevant background knowledge, research status, current control approaches and results, etc. The feedback stabilization problem and tracking control problem of nonholonomic control systems consist the main theme of the thesis. The research results obtained by the author can be divided into three parts:Parti. Finite-time convergence controller design for nonholonomic systems and its application.The most controllers for nonholonomic systems focus on non-continuous and time-invarying feedback controller, slippery and time-varying feedback controller or non-slippery time-varying feedback controller etc.. In this paper I design a new type of cotroller-finite time switching controller based on variable strucure control theory. Without universality, consider following chained form nonholonomic system,where x(t)is the n-dimensional state of the system, u1(t),u2(t)are the control inputs. They are supposed to make x(t) arrive at the equilibrium of the system. At the same time, u1(t),u2(t)become zero. The results of simulation show the validity of my controller. With this type of controller, the Parking problem of kinetic robots. Most importantly, this controller can be extended to other models ofnonholonomic systems.Part 2. Finite-time tracking controller design for nonholonomic systems and its application.Recently, the tracking problem of nonholonomic s ystems has b een a hotspot of the research of mechanical control systems. Compared with convergence problem, we didn't put much enthusiasm on it. In fact, the tracking problem is so similar to the convergence problem if you see tracking as the convergence of the given trajectory. In this paper I design a new recursive controller based on variable structure theory. Firstly, I design the tracking controller for the above chained form system, enlightening from it, I resolve the tracking problem of kinetic robots easily. At last, this controller is extended to the extended chained system. The results of simulations testify the validity.