Hsiuping University of Science and Technology Institutional Repository : Item 310993100/3511

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HUSTIR > College of Engineering > Department of Mechanical Engineering & Graduate Institute of Precision Machinery and Manufacturing Technology > Journal > Item 310993100/3511

Please use this identifier to cite or link to this item: http://ir.hust.edu.tw/dspace/handle/310993100/3511

Title:	移動平台非線性去耦化控制設計
Authors:	楊伯華王旭平張哲嘉白峻宏
Contributors:	修平技術學院機械工程系
Keywords:	nonholonmic 條件擬反矩陣法双回路設計
Date:	2010-03
Issue Date:	2013-08-13T05:37:58Z
Abstract:	本文旨在提出移動平台使用非線性去耦化控制研究，由於移動平台受限於nonholonmic 條件，使得其運動方程式在輸入項存有一個偶合矩陣，這對於以獨立輸入做控制器設計為基底的方法，造成困難。經提出擬反矩陣法消除偶合矩陣，再使用双回路設計，使得移動平台追蹤目標設計得以完成。
Relation:	修平學報 20, 209-220
Appears in Collections:	[Department of Mechanical Engineering & Graduate Institute of Precision Machinery and Manufacturing Technology] Journal

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