SOME APPLICATIONS OF NATURAL MOTION CONTROL

被引：23

作者：

KODITSCHEK, DE ^{[1
]}

机构：

[1] YALE UNIV,CTR BOT & GENET,DEPT ELECT ENGN,NEW HAVEN,CT 06520

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1991年 / 113卷 / 04期

关键词：

D O I：

10.1115/1.2896457

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper offers two engineering applications of the theoretical ideas presented in [13]. Each case concerns a generalized setpoint problem for a mechanical system whose configuration space does not permit globally asymptotically stable closed loops. By presenting a navigation function for each case, the paper shows how "natural control" may provide a degree of autonomy of execution without the appeal to a higher level planning system.

引用

页码：552 / 557

页数：6

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