【摘要】 研究具有未知惯性参数非完整动力学系统的镇定问题，基于非连续变换和动力学方程的性质，设计出两类非连续指数镇定律——鲁棒控制律和自适应控制律。将其用于一类移动机器人的位姿镇定，仿真结果验证了所提出控制方法的有效性。更多还原

【Abstract】 This paper studies the stabilization of uncertain dynamic nonholonomic chained systems with unknown constant inertia parameters. With aid of discontinuous transformation and well-known properties of the system, two discontinuous exponentially stabilizing control laws, robust and adaptive control laws, are given. An application to a wheeled mobile robot is described too. Simulation results show that the approach is effective.更多还原