自由飞行空间机器人系统的协调运动控制

考虑由载体和机械臂组成的空间机器人系统的协调控制问题，提出了一种新的协调控制策略.该策略首先利用简单的变结构控制器粗略控制载体的运动，进而设计机械臂控制器以保证手端精确跟踪其期望的运动轨迹.应用该策略分别对手端自由运动和受限运动设计了相应的控制器，并对两杆平面空间机器人系统进行了仿真，证实了控制策略的有效性.     

非完整链式系统的输出跟踪控制 ——动态扩展线性化方法1)

Tracking control of nonholonomic single and multi-chained systems is investigated in this paper.It is shown that the nonholonomic chained systems can be completely linearized by dynamic feedback linearization if the proper output variables are chosen and certain conditions are satisfied,and linear tracking controllers can then be designed for the resulted linearized systems.As an example,a moving cart is simulated to verify the proposed strategy.