Control of Nonholonomic Mechanisms with Drift
Control of Nonholonomic Mechanisms with Drift
复制标题
带漂移的非完整机构控制
DOI：
10.7210/jrsj.13.830
复制
发表时间：
1995
期刊：
影响因子：
--
通讯作者：
K. Yoshimoto
中科院分区：
文献类型：
--
作者：
Yoshihiko Nakamura;R. Iwamoto;K. Yoshimoto
A mechanism with more generalized coordinates than the number of actuators is said to be an underactuated mechanism. An open kinematic chain with unactuated joints lies in this category. The motion constraints of underactuated multi-link mechanisms are due to their dynamics and do not usually have even the first integral. Such nonholonomic systems are characterized by a nonlinear affine state equation with a drift term. In this paper, we discuss asymptotical stabilization and positioning control of a nonholonomic mechanism with drift.
