Energy shaping for coordinating internally actuated vehicles  

作　　者：Fan Wu~(a) and Zhiyong Geng~(b) The State Key Laboratory for Turbulence and Complex Systems,Peking University,Beijing 100871,China 

出　　处：《Theoretical & Applied Mechanics Letters》2011年第2期76-80,共5页力学快报（英文版）

基　　金：supported by the National Natural Science Foundation of China(11072002,10832006 )

摘　　要：This paper considers the stable coordination problem of two vehicles equipping with internal moving mass actuators.The coordinating and stabilizing control are derived by energy shaping. The proposed method is physically motivated and avoids cancelation or domination of nonlinearities.This paper considers the stable coordination problem of two vehicles equipping with internal moving mass actuators.The coordinating and stabilizing control are derived by energy shaping. The proposed method is physically motivated and avoids cancelation or domination of nonlinearities.

关 键 词：moving mass actuator under actuated energy shaping STABILIZATION 

分 类 号：U469.7[机械工程—车辆工程]