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Energy shaping for coordinating internally actuated vehicles
2011
Theoretical and Applied Mechanics Letters
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This paper considers the stable coordination problem of two vehicles equipping with internal moving mass actuators. The coordinating and stabilizing control are derived by energy shaping. The proposed method is physically motivated and avoids cancelation or domination of nonlinearities.
doi:10.1063/2.1102302
fatcat:ewjbolfk2zfttpyjeglnb4z3bq