Energy Shaping for Coordinating Internally Actuated Vehicles

作     者：Fan Wu is with the State Key Laboratory for Turbulence and Complex Systems,College of Engineering,Peking University,Beijing 100871 Zhiyong Geng is with the State Key Laboratory for Turbulence and Complex Systems,College of Engineering,Peking University,Beijing 100871 

会议名称：《2011 Chinese Control and Decision Conference（CCDC）》

会议日期：2011年

学科分类：08[工学] 081105[工学-导航、制导与控制] 0811[工学-控制科学与工程] 

基　　金：supported by National Nature Science Foundation under Grant 11072002 10832006 

关 键 词：Moving Mass Actuator Underactuated Energy Shaping Stabilization 

摘      要：This paper considers the problem of steady motion stabilization and coordination for two vehicles with internal moving mass *** coordinating and stabilizing control laws are derived using energy shaping in the context of *** proposed method is physically motivated and avoids linearization or cancellation of nonlinearities.