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: Geometry stabilizing control of the extended nonholonomic double intergrator
作者: Peng Y(彭艳) ; Liu M(刘梅) ; Tang ZJ(唐智杰) ; 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 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
会议日期: December 14-18, 2010
会议地点: Tianjin, China
会议主办者: IEEE Robotics and Automation Society; Hebei University of Technology; Tianjin University of Technology; Tianjin Association for Science and Technology
会议录: 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
会议录出版者: IEEE Computer Society
会议录出版地: Piscataway, USA
出版日期: 2010
页码: 926-931
收录类别: EI
ISBN号: 9781424493173
关键词: Biomimetics ; Robotics ; Unmanned vehicles
摘要: The extended nonholonomic double intergrator (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 with the 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. Furthermore, the drift involved in the ENDI can also be handled as an input perturbation by the proposed scheme. Besides the theoretical proofs, simulations conducted on the dynamics of a trimaran unmanned surface vehicle (USV) are also presented to demonstrate the validity and performance of the proposed method. © 2010 IEEE.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10450
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
Geometry stabilizing control of the extended nonholonomic double intergrator.pdf(594KB)----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
[Tang ZJ(唐智杰)]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[Peng Y(彭艳)]‘s Articles
[Liu M(刘梅)]‘s Articles
[Tang ZJ(唐智杰)]‘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: Geometry stabilizing control of the extended nonholonomic double intergrator.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