【摘要】 在分析一种腿轮式煤矿救援机器人运动原理的基础上,建立了机器人的动力学模型并讨论了目标跟踪控制问题。提出采用线性反馈控制率来进行目标跟踪控制,并证明其指数渐进稳定性,实验结果证明所提出控制方法的有效性。更多还原

【Abstract】 Based on the analysis of locomotion principle,built the dynamic model of a leg-wheeled rescue robot with nonholonomic constraints. Then studied the goal tracking problem and propose a linear feedback control methods and prove that it is exponentially stable. The experiment on our prototype robot verified the proposed control method.更多还原