Energy Shaping for Coordinating Internally Actuated Vehicles

摘要：

This paper considers the problem of steady motion stabilization and coordination for two vehicles with internal moving mass actuators. The coordinating and stabilizing control laws are derived using energy shaping in the context of mechanics. The proposed method is physically motivated and avoids linearization or cancellation of nonlinearities.

关键词： Moving Mass Actuator Underactuated Energy Shaping Stabilization

作者: Fan Wu Zhiyong Geng

作者单位: State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing 100871

会议类型: 国际会议

会议名称: 2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)

会议地点: 四川绵阳

会议语种:英文

页码: 2082-2087

在线出版日期: 2011-05-23（万方平台首次上网日期，不代表论文的发表时间）