%0 Journal Article
%T Stabilization of a class of second-order nonholonomic systems<br>一类二阶非完整系统的镇定
%A MA Bao-li
%A <br>马保离
%J 控制理论与应用
%D 2003
%I 
%X Stabilization of a class of second-order nonholonomic systems was investigated. The state and input feedback transformations were constructed explicitly to convert the second-order nonholonomic system to second-order canonical chained form. Smooth time-varying exponential control law was proposed to stabilize the second-order canonical chained form. The obtained result was applied to stabilize a planar underactuated rigid body.
%K nonholonomic control
%K second-order canonical chained form
%K underactuated robot systems
%K smooth time-vary-ing exponential stabilization<br>非完整控制
%K 二阶链式标准型
%K 欠驱动机器人系统
%K 时变光滑指数镇定
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=3E3F7B4B6F110914&yid=D43C4A19B2EE3C0A&vid=A04140E723CB732E&iid=E158A972A605785F&sid=90075EB19043D533&eid=6D6B4A516C7DB6EE&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=4&reference_num=17