摘要
本文研究了用动力学方程表示的双输入链式非完整系统的镇定问题，设计出了非连续的指数镇定律，并将其用于一类移动机器人的位姿镇定中．仿真结果表明了该控制律的有效性．
This paper studies the exponential stabilization of the dynamic nonholonomic chained systems with two inputs. A discontinuous exponentially stabilizing feedback law is given. An application to the stabilization of a nonholonomic wheeled mobile robot is described.Simmulation results show that the approach is effective.
出处
《机器人》
EI
CSCD
北大核心
1998年第2期88-92,共5页
Robot
