受非完整约束移动机器人的跟踪控制
Tracking Control of Mobile Robots with Nonholonomic Constraint
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摘要: 讨论受非完整约束移动机器人运动学模型和动力学模型的跟踪控制问题.通过把它 们化成统一的标准型,提出了新的动态跟踪控制器.这些控制器具有维数低和没有奇异点的 优点.仿真结果表明了所提出控制方法的有效性.Abstract: This paper investigates the tracking problem of kinematic and dynamic models of wheeled mobile robots with nonholonomic constraints. New tracking controllers are designed with the canoincal form. Our controllers are dynamic and have virtues of low dimensions and no singular points. Simulation results show effectiveness of the controllers.
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Key words:
- Wheeled mobile robot /
- tracking control /
- nonholonomic system
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