LOZANO P T.Spatial planning:a configurations space approach[J].IEEE Trans Computers,1983,32(2):108-120.
[2]
LOUSTE A L.Path planning for non-holonomic vehicles:a potential viscous fluid field method[J].Robotica,2000,20(1): 291-298.
[3]
KHENNOUF H,CANUDAS C.On the construction of stabilizing discontinuous controllers for nonholonomic system[C]// IFAC NOLCOS.Tahoe Lake,USA:IFAC,1995:753-758.
[4]
KIM J O,KHOSLA P K.Real-time obstacle avoidance using Harmonic potential functions[J].IEEE Transaction on Robotics and Automation,1992,8(3):338-349.
[5]
UDAWATTA L,WATANABE K,IZUMI K.Control of underactuated robot manipulators using switching computed torque method:GA based approach[J].Soft Computing,2003,8(1):51-60.
[6]
SORDALEN O J,OEGELAND O.Attitude stabilization with nonholonomic constraints[C]// 31 st CDC.Tucson,Arizona: IEEE,1992:1610-1611.
[7]
ASTOLFI A.Exponential stabilization of nonholonomic system via discontinuous control[C]// IFAC NOLCOS.Tahoe Lake,USA:IFAC,1995:741-746.
[8]
GEN M,CHENG R.Genetic algorithms and engineering optimization[M].New York:Wiley-Interscience,1999: 97-138.
[9]
MAHINDAKER A D,RAO S,BANAVAR R N.Point-to-point control of 2R planar horizontal underactuated manipulator [J].Mechanism and Machine Theory,2006,41(7):838-844.
[10]
MAHINDAKER A D,BANAVAR R N,REYHANOGLU M.Controllability and point-to-point control of 3-DOF planar horizontal underactuated manipulators[J].International Journal of Control,2005,78(1):1-13.
[11]
UDAWATTA L,WATANABE K,IZUMI K.Control of underactuated robot manipulators using switching computed torque method:GA based approach[J].Soft Computing-A Fusion of Foundations,Methodologies and Applications,2003,8(1): 51-60.
[12]
ARAI H,KAZUO T,NAOJI S.Time-scaling control of an underactuated manipulator[C]//Proceedings of the 1998 IEEE International Conference on Robotics & Automation.Leuven,Belgium:IEEE,1998:2619-2626.
[13]
BROCKEET R W.Asymptotic stability and feedback stabilization[M].Boston:Brikhauser,1983:181-191.
[14]
SAMSON C.Velocity and torque feedback control of a nonholonomic cart[J].LNCS,1991,162:125-151.
[15]
CORON M J.Global asymptotic stabilization for controllable systems without drift[J].Mathematics of Control Signals and Systems,1992,5(3):295-312.
[16]
MURRAY M R.Control of nonholonomic systems using chained form[J].Field Institute Communications,1993,1: 219-245.
[17]
WALSH G C,BUSHNELL.Stabilization of multiple input chained form systems[J].Systems and Control Letters,1995, ??25(3):227-234.
[18]
CORON J M,POMET J B.A remark on the design of time-varying stabilizing feedback laws for controllable systems without drift[C]//IFAC NOLCOS.Bordeaux,France:IFAC,1992:413-417.
[19]
LAFERRIERE G A,SONTAG E D.Remark on control Lyapunov functions for discontinuous stabilizing feedback[C]// 32nd CDC.San Antonio,Texas:IEEE,1993:2398-2403.