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 physica...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.展开更多
The objective of this paper is to introduce the piecewise constant method in gait design of a planar,under actuated,five-link biped robot model and to discuss the advantages and disadvantages.The piecewise constant me...The objective of this paper is to introduce the piecewise constant method in gait design of a planar,under actuated,five-link biped robot model and to discuss the advantages and disadvantages.The piecewise constant method transforms the dynamic optimal control problem into a static problem.展开更多
基金supported by the National Natural Science Foundation of China(11072002,10832006 )
文摘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.
文摘The objective of this paper is to introduce the piecewise constant method in gait design of a planar,under actuated,five-link biped robot model and to discuss the advantages and disadvantages.The piecewise constant method transforms the dynamic optimal control problem into a static problem.
