一类非线性欠驱动移动系统的加速度反馈增强的H∞扰支抑制控制OA北大核心CSCDCSTPCD
Acceleration Feedback Enhanced H∞ Disturbance Attenuation Control for a Class of Nonlinear Underactuated Vehicle Systems
In this paper, a generalized acceleration feedback control (AFC) design method, named AFC enhanced H∞ controller, is proposed for both fnllactuated and underactuated nonlinear autonomous vehicle systems. The AFC is designed a…查看全部>>
In this paper, a generalized acceleration feedback control (AFC) design method, named AFC enhanced H∞ controller, is proposed for both fnllactuated and underactuated nonlinear autonomous vehicle systems. The AFC is designed as a robust enhancement to the normal control based on known dynamics. First, in order to reject the uncertainties and external disturbances, a linear prefilter is used in the new AFC design method to replace the high gain in the normal A…查看全部>>
何玉庆;韩建达
Graduate University of Chinese Academy Sciences, Beijing 100080, P.R. ChinaState Key Laboratory of Robotics, Shenyang Institute of Au-tomation, Chinese Academy Sciences, Shenyang 110016, P. R. China
信息技术与安全科学
Disturbance attenuation, acceleration feedback control, underactuated systems, backstepping, nonlinear H<,∞> control
Disturbance attenuation, acceleration feedback control, underactuated systems, backstepping, nonlinear H<,∞> control
《自动化学报》 2008 (5)
558-564,7
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