相图;
A unified nonsingular control framework that enables both tracking and stabilization of unicycle type wheeled mobile robots is proposed. With the aid of dynamic feedback linearization and sliding mode control techniques, phase portrait analysis plays a key role in the design method.
对unicycle类型轮式移动机器人,基于相平面分析技术,结合动态反馈线性化和滑模控制,提出了一种非奇异的镇定和跟踪控制统一设计框架。
Lastly, the bifurcation diagram, the time-history curve, phase portrait and Poincar é map are calculated by means of MATLAB software. The numerical characters of chaotic motion are obtained.
使用Matlab软件计算了分岔图、相图、时程曲线和poincaré映射,给出了混沌运动的数字特征。
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