%0 Journal Article
%T 参数不确定移动小车的鲁棒镇定
%A 马保离
%J 自动化学报
%P 314-319
%D 2005
%X ？Forregulatingthedynamicnonholonomicmobilecartwithparameteruncertainties,atime-varyingrobustcontrollawisderivedtoyieldgloballyexponentialconvergenceofcart0spositionandorientationtothedesiredsetpoint.Thecontrollerdesignreliesonconvertingthecart0sdynamicstoanadvantageousform,andtherobustlinearfeedbackcontrollawssteerthecart0spositionandorientationerrorstozeroexponentially.Simulationresultsshowtheeffectivenessoftheproposedcontrollaw.
%K Nonholonomicmobilecart
%K robuststabilization
%K smoothtime-varyingcontrol
%K parameteruncertainties
%U http://www.aas.net.cn/CN/abstract/abstract15478.shtml