تثبیت غیر خطی سیستم کنترل فرمان ربات دوچرخه

برای دریافت رایگاه اصل مقاله،عدد 3 را به شماره 09903207833 تلگرام نمایید.   Abstract - Taking the steering torque as the input of system, akind of steering control single-input single-output dynamic modelfor bicycle robot is presented based on Lagrange method. Thenonlinear dynamic model was described as a SISO affinenonlinear system. Then the system was represented into thestandard Byres-Isidori standard form base on thediffeomorphism transform theory. The system described withByres-Isidor ...