Setpoint Servo Problem for Symmetric Affine Systems -Asymptotical Stabilizaton by PI Control
نویسندگان
چکیده
This paper is concerned with control of nonholonomic systems. As is well known, symmetric affine system is unable to control with continuous time-invariant state feedback. In this paper we apply PI Control to a setpoint servo problem for the symmetric affine system. PI control possesses two adjustable parameters KP , KI , and in addition the so-called manual reset quantity m0. It is remarked that adjusting m0 is equivalent to adjusting an initial condition z0 of integrator ż = e. By the PI control with the manual reset m0 appropriately chosen, not only controllable part of symmetric affine system is asymptotically stabilized but also uncontrollable part can be made to converge to the desired value. Applying the PI control with m0, we can control the symmetric affine system without transforming into the ”chained form”. The effectiveness of the method was confirmed by the simulation results for various plants.
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