부족구동 역학 시스템의 비선형 적응제어 - 박문수 (The Graduate School, Ajou University, 2007)
학위논문(박사)----아주대학교 일반대학원 :전자공학과,2007. 8
Keywords: Underactuated mechanical system; semi-global stabilization; trajectory tracking; backstepping technique; sliding mode control; partial feedback linearization; fuzzy adaptive trajectory tracking; fuzzy uncertainty observer