论文标题
非独立系统的部分稳定，适用于多代理协调
Partial stabilization of nonholonomic systems with application to multi-agent coordination
论文作者
论文摘要
本文重点介绍了构建随时间变化的反馈定律的问题，该法律渐近地稳定了非线性控制范围系统状态变量的给定部分。假定所考虑的系统类别满足可稳定变量的非线性可控性条件。在这些假设下，通过使用由控制矢量场及其lie括号组成的矩阵的反转来明确构建时间周期反馈控制。提出的控制设计方案用于解决非线性多机构系统的领导者跟踪问题。这些结果通过两个非语言控制问题的示例说明了这些结果：滚动盘的部分稳定以及两个独轮车的领导者跟踪任务。
This paper focuses on the problem of constructing time-varying feedback laws that asymptotically stabilize a given part of the state variables for nonlinear control-affine systems. It is assumed that the class of systems under consideration satisfies nonlinear controllability conditions with respect to the stabilizable variables. Under these assumptions, a time-periodic feedback control is constructed explicitly by using the inversion of the matrix composed of the control vector fields and their Lie brackets. The proposed control design scheme is applied to solving the leader-following problem for nonlinear multi-agent systems. These results are illustrated with two examples of nonholonomic control problems: the partial stabilization of a rolling disc and the leader-following task for two unicycles.
