董文杰, 霍伟. 动态非完整控制系统的指数镇定及其在一类车式机器人中的应用[J]. 机器人, 1998, 20(2): 88-92.
引用本文: 董文杰, 霍伟. 动态非完整控制系统的指数镇定及其在一类车式机器人中的应用[J]. 机器人, 1998, 20(2): 88-92.
DONG Wenjie, HUO Wei. EXPONENTIAL STABILIZATION OF THE DYNAMIC NONHOLONOMIC CONTROL SYSTEMS AND ITS APPLICATION TO WHEELED MOBILE ROBOT[J]. ROBOT, 1998, 20(2): 88-92.
Citation: DONG Wenjie, HUO Wei. EXPONENTIAL STABILIZATION OF THE DYNAMIC NONHOLONOMIC CONTROL SYSTEMS AND ITS APPLICATION TO WHEELED MOBILE ROBOT[J]. ROBOT, 1998, 20(2): 88-92.

动态非完整控制系统的指数镇定及其在一类车式机器人中的应用

EXPONENTIAL STABILIZATION OF THE DYNAMIC NONHOLONOMIC CONTROL SYSTEMS AND ITS APPLICATION TO WHEELED MOBILE ROBOT

  • 摘要: 本文研究了用动力学方程表示的双输入链式非完整系统的镇定问题,设计出了非连续的指数镇定律,并将其用于一类移动机器人的位姿镇定中.仿真结果表明了该控制律的有效性.

     

    Abstract: This paper studies the exponential stabilization of the dynamic nonholonomic chained systems with two inputs. A discontinuous exponentially stabilizing feedback law is given. An application to the stabilization of a nonholonomic wheeled mobile robot is described.Simmulation results show that the approach is effective.

     

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