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（即小车的位置趋于期望路径，其速度方向趋于期望路径的切线方向）．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．
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.
出处
《机器人》
EI
CSCD
北大核心
1995年第6期358-362,共5页
Robot
关键词
移动小车
路径跟踪
反馈镇定
机器人
Mobile cart control, noholonomic system,geometric path tracking,feedback stabilization.
