排序方式: 共有4条查询结果,搜索用时 0 毫秒
1
1.
2.
This paper studies the problem of the formation control for the multiple nonholonomic agents on a plane. A dynamic feedback linearization method is used to transform the dynamical model of each agent into two third-order integrator chains. A decentralized formation control law with the inter-agent damping .injection is derived. The asymptotical stability of the overall system is proven using the Lyapunov method. The simulation of the formation maneuver of a planar vehicle shows the effectiveness of the proposed method. 相似文献
3.
IntroductionThestudyofstabilityrobustnessinthepresenceofuncertaintyisanimportantaspectofcontrolsystemanalysis.Itisnecessarytomodelphysicalsystemsastheperturbedsystemaroundaknownnominalsystem .Usuallytheuncertaintiesiscomposedofparametricandnon_paramet… 相似文献
4.
讨论了非完整性多体编队运动问题.首先利用动态反馈将单个体的动力学模型线性化为2个三阶输入输出积分链的形式;然后提出一种带有单个体间阻尼注入的非连续分布式控制律,并利用Liapunov方法证明了在该控制律作用下闭环系统的渐进稳定性;最后通过一个平面机器人的编队运动仿真验证了所提方法的有效性. 相似文献
1