【摘要】 对于一类具有轮式移动机构的非完整动力学系统 ,本文通过建立人工场的方法来实现其位姿镇定、轨迹跟踪和路径跟踪等控制问题 .人工场用于导向和控制方向角 ,而通过辅助的线速度控制以获取最佳收敛路径 .控制器设计中同时兼顾动力学扰动及实际系统速度和输出力矩的饱和限制 ,所得控制器对于跟踪问题仅需知道期望位姿 ,而且结构简单、鲁棒性强、便于实现更多还原

【Abstract】 In this article we use artificial fields to steer and control the steering angle of a nonholonomic dynamic system, and a linear velocity control law is assistantly derived to find the optimal convergent trajectory.The proposed approach can be used to realize arbitrary point to point stabilization,trajectory tracking and path following, and it’s also simple and easily applied compared to classical and existed such controllers.Because dynamic disturbance or uncertainties are taken into consideration, it has robustness property.更多还原