Quasivelocities and stabilization of relative equilibria of underactuated nonholonomic systems
Quasivelocities and stabilization of relative equilibria of underactuated nonholonomic systems
复制标题
欠驱动非完整系统的准位置和相对平衡的稳定性
DOI：
10.1109/cdc.2009.5399479
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
D. Zenkov
中科院分区：
文献类型：
--
作者：
A. Bloch;J. Marsden;D. Zenkov
本文讨论了准速度理论及其在控制中的应用。利用拉格朗日-达朗贝尔原理，在任意构型相关坐标系中导出了机械系统的运动方程。以非完整约束欠驱动系统为例，利用拟速度形式的运动方程结构设计了非线性反馈稳定控制器。
This paper is concerned with the theory of quasivelocities and its applications to control. The equations of motion of a mechanical system are derived using the Lagrange-d'Alembert principle written in an arbitrary configuration-dependent frame. The structure of the equations of motion written in quasivelocities is utilized in the design of a nonlinear feedback stabilizing controller for an example of a nonholonomically constrained underactuated system.