【摘要】 研究了离轴式拖车移动机器人系统任意一节车体的几何路径跟踪问题.首先推导出系统的时间-状态线性化模型并证明了系统的能控性;然后应用内模原理设计了线性动态反馈控制律,该控制律可以保证路径跟踪误差有界和最终一致有界,且最终一致界正比于期望路径函数变化率的立方.仿真结果证实了控制律的有效性.更多还原

【Abstract】 In this work,we investigated the path following problem of an arbitrary body of tractor-trailers with off-axle hitching.First,a linearized time-state model was derived and proved to be controllable.A dynamic linear feedback control law was then proposed based on internal mode principal to guarantee that the path tracking error is uniformly ultimately bounded and the bound is cubically proportional to the variation rate of the desired geometric path function.Simulation results showed the effectiveness of the proposed control scheme.更多还原