| 不确定非完整系统的自适应有限时间镇定 |
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| 引用本文： | 李飞祥.不确定非完整系统的自适应有限时间镇定[J].常熟理工学院学报,2011,25(10):48-52. |
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| 作者姓名： | 李飞祥 |
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| 作者单位： | [1]郑州大学数学系,郑州450001;[2]安阳师范学院数学与统计学院,河南安阳455000 |
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| 基金项目： | 国家自然科学基金，河南省教育科学“十二五”规划资助项目 |
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| 摘 要： | 研究了一类具有非线性参数化链式非完整系统自适应有限控制问题.基于参数分离技术,input-state-scaling变换技巧和backstepping设计方法构造连续时变反馈有限时间自适应控制律.通过切换策略有效克服系统在x0（t0）=0不能控的现象,该控制律保证闭环系统同Lyapunov稳定和有限时间收敛.
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| 关 键 词： | 自适应 有限时间稳定 非完整系统 非线性参数化 |
Adaptive Finite-Time Stabilization of Nonholonomic Systems with Uncertainties |
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| LI Fei-xiang.Adaptive Finite-Time Stabilization of Nonholonomic Systems with Uncertainties[J].Journal of Changshu Institute of Technology,2011,25(10):48-52. |
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| Authors: | LI Fei-xiang |
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| Institution: | LI Fei-xiang 1,2 (1.Department of Mathematics, Zhengzhou University, Zhengzhou 450001, China; 2.School of Mathematics and Statistics, Anyang Normal University, Anyang 455000, China) |
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| Abstract: | In this paper, adaptive finite-time control is presented for a class of uncertain nonholonomic systems in chained form with nonlinear parameterization. Using parameter separation, state scaling and backstepping, an adaptive finite-time control law is obtained in the form of continuous time-invariant feedback. Both Lyapunov stability and finite time convergence are guaranteed by appropriately choosing the design parameters. An adaptive control based switching strategy is used to overcome the uncontrollability problem associated with x0（t0 ）=0 . |
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| Keywords: | adaptive finite-time stability nonholonomic systems input-state-scaling nonlinear parameterization |
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