低维非完整系统的匹配与镇定

Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Pub Date : 2000-12-12 DOI:10.1109/CDC.2000.912033

D. Zenkov, A. Bloch, Naomi Ehrich Leonard, J. Marsden

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引用次数: 26

摘要

我们展示了如何将广义匹配技术应用于与低维非完整系统相关的Routhian。该理论用一个简单的模型来说明——一个带骑手的独轮车。

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Matching and stabilization of low-dimensional nonholonomic systems

We show how a generalized matching technique for stabilization may be applied to the Routhian associated with a low-dimensional nonholonomic system. The theory is illustrated with a simple model-a unicycle with rider.

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Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187)

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