Nonlinear Control Strategies Research Of Nonholonomic Control Systems

Nonholonomic systems originate from classical mechanics systems. Its essence is Lagrange system with linear constraints being nonintegrable. Since nonholonomic control systems are nonlinear systems in essence, linear control strategies haven't the ability to solve the control problems of nonholonomics control systems. Smooth time-variant state feedback can only make the system asymptotically stabilized, which can't make the system globally exponentially stabilized. The goal of nonholonomic control systems can be divided as motion planning, stabilization and tracking control. In this paper, we emphasize the research on the stabilization and tracking control of nonholonomic control systems.Nonholonomic control systems are comprehensive control systems which widely exist in the real world. The researches in this field have their theory and practice meanings. In this paper, we have accomplished the following researches:Nonholonomic control systems are summarized firstly. Some mathematics models, definitions and theorems are analyzed. And some difficulties and problems of nonholonomic control systems are also given.Nonholonomic double integrator model is equivalence to induction motor model in the case of simple three-dimension nonholonomic control systems. We apply field-oriented control model of motor to nonholonomic control systems and realize global exponential stabilization and tracking control.Invariant manifold of differential geometry is applied to stabilization of nonholonomic control systems to solve the high dimension control problems. Since invariant manifold has its original excellence to deal with high dimension problems, invariant manifold has its special significance in the control of nonholonomic control systems.State observation problem has its significance in the control of nonholonomic control systems. Output feedback control problem is a challenge topic of nonholonomic control systems. Dynamic output feedback control based on observer is applied to realize globally k-exponentially gradually tracking control.Variable structure control is applied to nonholonomic chained system and its robust performance is analyzed. Since variable structure control need all the system states to be known, variable structure control based on observer is designed to realize globally exponentially stabilization of nonholonomic control system.Robust backstepping control is applied to uncertain nonholonomic chained system to solve its uncertainty problem and its robust performance is analyzed to some uncertainty.