Trajectory Tracking Control of Chained Systems
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摘要: 研究了链式系统的轨迹跟踪控制问题,提出一种新的跟踪方案,设计出能实现全局 轨迹跟踪的一维动态控制器,将其用于一类轮式机器人的控制中.仿真结果表明所提方法的 有效性.Abstract: This paper investigates the trajectory tracking problem of chained systems. A new tracking approach is presented. The proposed one-dimensional dynamic tracking controllers can globally make the states of the systems asymptotically track the given trajectories. An application to a wheeled mobile robot is described. Simulation results show that our approach is effective.
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Key words:
- Nonholonomic system /
- chained form system /
- trajectory tracking control /
- mobile robot
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