中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 会议论文
题名: A continuous control for stabilizing the extended nonholonomic double integrator: Theory and simulation results
作者: Peng Y(彭艳) ; Liu M(刘梅) ; Xie SR(谢少荣) ; Luo J(罗均)
作者部门: 机器人学研究室
会议名称: 2010 International Conference on Frontiers of Manufacturing and Design Science, ICFMD2010
会议日期: December 11-12, 2010
会议地点: Chongqing, China
会议主办者: Control Engineering and Information Science Research Association; Int. Front. Sci. Technol. Res. Assoc.; Trans Tech Publications; Chongqing Xueya Conferences Catering Co.,Ltd; Chongqing University of Technology
会议录: Applied Mechanics and Materials
会议录出版者: Trans Tech Publications
会议录出版地: Clausthal-Zellerfeld, Germany
出版日期: 2010
页码: 3987-3991
收录类别: CPCI(ISTP) ; EI
ISSN号: 1660-9336
ISBN号: 9783037850046
关键词: Asymptotic analysis ; Manufacture
摘要: The extended nonholonomic double integrator (ENDI) cannot be asymptotically stabilized by a continuous and time-invariant feedback controller since it violates the Brockett's condition. In this paper, a new continuous control scheme is proposed to stabilize the ENDI system without drift. The dynamics of an ENDI system is enlarged to a higher dimensional space where a continuous but time-varying control law is designed for its stabilization. Besides the theoretical proofs, simulations conducted on the dynamics of a mobile robot are also presented to demonstrate the validity and performance of the proposed method. © (2011) Trans Tech Publications.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10437
Appears in Collections:机器人学研究室_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
A continuous control for stabilizing the extended nonholonomic double integrator.pdf(324KB)----开放获取View Download
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[Peng Y(彭艳)]'s Articles
[Liu M(刘梅)]'s Articles
[Xie SR(谢少荣)]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[Peng Y(彭艳)]‘s Articles
[Liu M(刘梅)]‘s Articles
[Xie SR(谢少荣)]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: A continuous control for stabilizing the extended nonholonomic double integrator.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace