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| 1 | 基于CLF的移动舞台机器人轨迹跟踪预测控制显示文摘针对移动舞台机器人的轨迹跟踪和区域受限控制问题,提出一种参数化模型预测控制算法.该算法的主要思想是离线构造移动舞台机器人误差系统的一个控制Lyapunov函数(CLF),再根据CLF主动控制方法设计可调预测控制器,并通过在线滚动优化给定性能指标计算控制器的可调参数,在保证控制器自适应性的同时降低了MPC计算量,保证了优化问题的递推可行性和闭环系统的稳定性.最后,以'圆'为参考轨迹做仿真验证,仿真结果表明:该算法具有快速、精确和全局稳定的良好特性. | 何德峰 郭晓慧 姬超超 倪洪杰 | 2018 | 浙江工业大学学报2018，46，5： | 9 |
| 2 | An overview of recent progress in high-order nonholonomic chained system control and distributed coordination显示文摘This paper reviews some main results and progress concerning with nonholonomic system control,especially focusing on the networked chained system coordination.The controllability of nonholonomic system,the control method of nonholonomic system,the chained form transformation,the basic graph theory for multi-agent systems are recalled,respectively.Some important definitions,lemmas,theorems and dynamics are elaborated.Both the consensus and formation control problems for networked nonholonomic chained systems are summarised.Finally,some open questions are proposed. | Jie Huang Jie Chen Hao Fang Lihua Dou | 2015 | Journal of Control and Decision2015，2，1： | 2 |
| 3 | Control and Stabilization of the Rosenau Equation Posed on a Periodic Domain显示文摘 | ZHOU Deqin MU Chunlai | 2018 | Journal of Systems Science & Complexity2018，31，4： | 0 |
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