DocumentCode
2517740
Title
Energy shaping for coordinating internally actuated vehicles
Author
Wu, Fan ; Geng, Zhiyong
Author_Institution
State Key Lab. for Turbulence & Complex Syst., Peking Univ., Beijing, China
fYear
2011
fDate
23-25 May 2011
Firstpage
2082
Lastpage
2087
Abstract
This paper considers the problem of steady motion stabilization and coordination for two vehicles with internal moving mass actuators. The coordinating and stabilizing control laws are derived using energy shaping in the context of mechanics. The proposed method is physically motivated and avoids linearization or cancellation of nonlinearities.
Keywords
actuators; motion control; stability; vehicle dynamics; energy shaping; internal moving mass actuators; internally actuated vehicle coordination; mechanics; stabilizing control laws; steady motion stabilization; Actuators; Equations; Feedback control; Lyapunov methods; Mechanical systems; Vehicle dynamics; Vehicles; Energy Shaping; Moving Mass Actuator; Stabilization; Underactuated;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Decision Conference (CCDC), 2011 Chinese
Conference_Location
Mianyang
Print_ISBN
978-1-4244-8737-0
Type
conf
DOI
10.1109/CCDC.2011.5968547
Filename
5968547
Link To Document