一类不确定非完整动力学系统的时变镇定
Time-Varying Stabilization of Uncertain Dynamic Nonholonomic Systems
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摘要: 对于一类具有未知惯性参数的非完整动力学系统,提出了新的时变自适应镇定律、 将其用于一类移动机器人的位姿镇定中.仿真结果验证了所提控制方法的有效性.Abstract: A new time-varying adaptive control law is given for a class of dynamic nonholonomic chained systems with unknown constant inertia parameters. An application to a wheeled mobile robot is described. Simulation results show that the approach is effective.
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