【作者】 程躜； 霍伟；

【Author】 Cheng Zuan, Huo Wei(the Seventh Research Division of Beihang University, Beijing, 100083)

【机构】 北京航空航天大学第七研究室；

【摘要】 对带一节离轴式拖车的移动机器人提出一种全局渐近稳定的路径跟踪控制方法。文中导出了这类受非完整约束移动机器人拖车的运动学模型,基于此模型选择了合适的系统输出,并设计了实现路径跟踪的输出反馈控制律,仿真结果验证了此方法的有效性。更多还原

【Abstract】 A globally asymptotically stable path following control law for the mobile robot with a off-axle hitching trailer is presented in this paper. Firstly, the kinematic equation of this mobile robot system with nonholonomic constraints is derived. Based on the model a proper system output is defined and an output feedback path following control law is designed. The simulation result shows the effectiveness of the proposed method.更多还原