【作者】 霍伟；

【Author】 Huo Wei (Beijing University of Aeronautics and Astronautics. Biijing, 100083)

【机构】 北京航空航天大学第七研究室；

【摘要】 本文利用机器人无源控制器设计方法和速度跟踪的思想,提出了一种设计不确定非完整动力学系统自适应和变结构镇定律的统一方法,将Astofi对非完整链式系统提出的著名非连续镇定律推广到含惯性参数不确定性的非完整动力学系统。更多还原

【Abstract】 By the use of the passivity based controller design method for robots and the velocity tracking scheme an unified approach to design adaptive and variable structure stabilization laws for uncertain nonholonomic dynamical systems are presented in this paper, which extends the well-known discontinuous stabilization law proposed by Astolfi for chained systems to nonholonomic systems with uncertain inertial parameters.更多还原