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·1790· 工程科学学报,第38卷,第12期 Control Conference and Exhibit.Hawaii,2008:7418 unicycle vehicles via Lyapunov techniques.IEEE Rob Autom 5]Ochi Y,Kondo H,Watanabe M.Linear dynamics and PID flight Mag,1995,2(1):27 control of a powered paraglider //AlAA Guidance,Navigation and [13]Jia H M,Cheng X Q.Zhang L J,et al.Three-dimensional path Control Conference.Chicago,009:6318 tracking control for underactuated AUV based on adaptive back- 6Van der Kolf G.Flight Control System for an Autonomous Parafoil stepping.Control Decis,2012,27(5):652 [Dissertation].Stellenbosch:Stellenbosch University,2013 (贾鹤鸣,程相勤,张利军,等.基于自适应Backstepping的 ]Ward M,Gavrilovski A,Costello M.Flight test results for glide 欠驱动AUV三维航迹跟踪控制.控制与决策,2012,27 slope contro of parafoil canopies of various aspect ratios/1s (5):652) AlAA Aerodynamic Decelerator Systems Technology Conference and [14]Jia H M,Zhang L J,Cheng X Q,et al.Three-dimensional path Seminar.Dublin,2011:2620 following control for an underactuated UUV based on nonlinear it- 8]Ward M,Culpepper Costello M.Parametric study of powered erative sliding mode.Acta Autom Sin,2012,38(2):308 parafoil flight dynamics //AIAA Atmospheric Fight Mechanics Con- (贾鹤鸣,张利军,程相勤,等.基于非线性迭代滑膜的欠驱 ference.Minneapolis,2012:4726 动UV三维航迹跟踪控制.自动化学报,2012,38(2): Gao HT.Research on Control and Autonomous Homing Trajectory 308) Planning of Parafoil System [Dissertation].Tianjin:Nankai Uni- [15]Slegers NJ,Yakimenko O A.Optimal control for terminal guid- versity,2014 ance of autonomous parafoils //20th AlAA Aerodynamic Decelera- (高海涛.翼伞系统自主归航航迹规划与控制研究[学位论 tor Systems Technology Conference and Seminar.Seattle,2009: 文].天津:南开大学,2014) 2958 [10]Miao CX,Fang JC,Sheng W.Adaptive tracking control meth- [16]Zhang L J,Jia H M,Qi X.NNFFC-adaptive output feedback od for nonlinear trajectory.J Beijing Univ Aeronaut Astronaut, trajectory tracking control for a surface ship at high speed.Ocean 2012,38(4):427 Eng,2011,38(13):1430 (缪存孝,房建成,盛蔚.一种非线性航迹自适应跟踪控制 [17]Zheng Z W.Huo W,Zhu B.Global path-following control for 方法.北京航空航天大学学报,2012,38(4):427) nonholonomic model robots.Control Theory Appl,2012,29(6): [11]Micaelli A,Samson C.Trajectory Tracking for Unicycle-type and 741 Two-steering-tcheels Mobile Robots [Dissertation].France:IN- (郑泽伟,霍伟,褚兵.非完整移动机器人全局路径跟踪控 RA,1993 制.控制理论与应用,2012,29(6):741 [12]Aicardi M,Casalino G,Bicchi A,et al.Closed loop steering of [18]Khalil H K.Nonlinear Systems.New York:Prentice Hall,2012工程科学学报,第 38 卷,第 12 期 Control Conference and Exhibit. Hawaii,2008: 7418 [5] Ochi Y,Kondo H,Watanabe M. Linear dynamics and PID flight control of a powered paraglider / /AIAA Guidance,Navigation and Control Conference. Chicago,2009: 6318 [6] Van der Kolf G. Flight Control System for an Autonomous Parafoil [Dissertation]. Stellenbosch: Stellenbosch University,2013 [7] Ward M,Gavrilovski A,Costello M. Flight test results for glide slope control of parafoil canopies of various aspect ratios / /21st AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar. Dublin,2011: 2620 [8] Ward M,Culpepper S,Costello M. Parametric study of powered parafoil flight dynamics / /AIAA Atmospheric Fight Mechanics Con￾ference. Minneapolis,2012: 4726 [9] Gao H T. Research on Control and Autonomous Homing Trajectory Planning of Parafoil System[Dissertation]. Tianjin: Nankai Uni￾versity,2014 ( 高海涛. 翼伞系统自主归航航迹规划与控制研究[学位论 文]. 天津: 南开大学,2014) [10] Miao C X,Fang J C,Sheng W. Adaptive tracking control meth￾od for nonlinear trajectory. J Beijing Univ Aeronaut Astronaut, 2012,38( 4) : 427 ( 缪存孝,房建成,盛蔚. 一种非线性航迹自适应跟踪控制 方法. 北京航空航天大学学报,2012,38( 4) : 427) [11] Micaelli A,Samson C. Trajectory Tracking for Unicycle-type and Two-steering-wheels Mobile Robots [Dissertation]. France: IN- RIA,1993 [12] Aicardi M,Casalino G,Bicchi A,et al. Closed loop steering of unicycle vehicles via Lyapunov techniques. IEEE Rob Autom Mag,1995,2( 1) : 27 [13] Jia H M,Cheng X Q,Zhang L J,et al. Three-dimensional path tracking control for underactuated AUV based on adaptive back￾stepping. Control Decis,2012,27( 5) : 652 ( 贾鹤鸣,程相勤,张利军,等. 基于自适应 Backstepping 的 欠驱动 AUV 三维航迹跟踪控制. 控 制 与 决 策,2012,27 ( 5) : 652) [14] Jia H M,Zhang L J,Cheng X Q,et al. Three-dimensional path following control for an underactuated UUV based on nonlinear it￾erative sliding mode. Acta Autom Sin,2012,38( 2) : 308 ( 贾鹤鸣,张利军,程相勤,等. 基于非线性迭代滑膜的欠驱 动 UUV 三维航迹跟踪控制. 自动化学报,2012,38 ( 2 ) : 308) [15] Slegers N J,Yakimenko O A. Optimal control for terminal guid￾ance of autonomous parafoils / /20th AIAA Aerodynamic Decelera￾tor Systems Technology Conference and Seminar. Seattle,2009: 2958 [16] Zhang L J,Jia H M,Qi X. NNFFC-adaptive output feedback trajectory tracking control for a surface ship at high speed. Ocean Eng,2011,38( 13) : 1430 [17] Zheng Z W,Huo W,Zhu B. Global path-following control for nonholonomic model robots. Control Theory Appl,2012,29( 6) : 741 ( 郑泽伟,霍伟,褚兵. 非完整移动机器人全局路径跟踪控 制. 控制理论与应用,2012,29( 6) : 741 [18] Khalil H K. Nonlinear Systems. New York: Prentice Hall,2012 ·1790·
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