| 移动小车的路径跟踪与镇定 |
| |
| 引用本文： | 马保离,霍伟.移动小车的路径跟踪与镇定[J].机器人,1995,17(6):358-362. |
| |
| 作者姓名： | 马保离 霍伟 |
| |
| 作者单位： | 北京航空航天大学第七研究室 |
| |
| 摘 要： | 本文讨论受非完整约束限制的移动小车的几何路径跟踪与镇定问题，给出了小车以恒定速度跟踪任意期望几何路径的控制律，证明了小车的实际运动路径渐近收敛于期望的路径。文中还讨论了小车的镇定问题，给出了小车从任意初始位置和姿态到达另一位置和姿态的控制方案，最后给出了仿真结果。
|
| 关 键 词： | 移动小车 路径跟踪 反馈镇定 机器人 |
PATH TRACKING CONTROL AND STABILIZATION OF MOBILE CART |
| |
| MA Baoli,HUO Wei.PATH TRACKING CONTROL AND STABILIZATION OF MOBILE CART[J].Robot,1995,17(6):358-362. |
| |
| Authors: | MA Baoli HUO Wei |
| |
| Abstract: | Geometric path tracking control and stabilization of mobile cart are investigated in this paper. Acontrol scheme is developed to track the desired geometric path in constant speed,and the convergence of ac- tual motion path of cart to the desired one is verified In addition,the stabilization scheme of mobile cart isalso proposed,which can move the cart from an arbitary position and attitude to the desired Ones.Simulationresults are given to demonstrate the proposed schemes. |
| |
| Keywords: | Mobile cart control noholonomic system geometric path tracking feedback stabilization |
| 本文献已被 CNKI 维普 等数据库收录！ |
