A Continuous Control Design for Driftless Systems
碩士 === 國立臺灣大學 === 機械工程學研究所 === 90 === In this thesis, we review a piecewise motion planning algorithm for driftless nonlinear systems. This control design use switching control signals to steer the state. To improve the system performance, we propose a new practical control design that us...
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
2002
|
| Online Access: | http://ndltd.ncl.edu.tw/handle/97395916968192808545 |
| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 90 === In this thesis, we review a piecewise motion planning algorithm for driftless nonlinear systems. This control design use switching control signals to steer the state. To improve the system performance, we propose a new practical control design that uses continuous input signals. We also propose a closed-loop control design based on the same mathematical skill developed in the motion planning algorithm. The proposed closed-loop control design can drive the state of a driftless nonlinear system to any desired position asymptotically.
|
|---|