陈文, 范振地, 尹朝万. 带一个拖车的移动机器人小车的一种路径跟踪控制方法[J]. 机器人, 1994, 16(4): 193-197..
CHEN Wen, FAN Zhendi, YIN Chaowan. A KIND OF PATH TRACKING CONTROLOF WHEELED MOBILE ROBOTSWITH A SINGLE TRAILER. ROBOT, 1994, 16(4): 193-197..
Abstract：in this paper, We formulated the kinematic model of wheeled mobile robots with a single trailerusing time scale transformation. And then, we exactly linearized the nonlinear model formulated ahead viachange of coordinates and state feedback and prcsented a kind of control algorithm. The feasibility of this al-gorithm has been verified by computer simulation.
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