马保离, 霍伟. 移动小车的路径跟踪与镇定[J]. 机器人, 1995, 17(6): 358-362..
MA Baoli, HUO Wei. PATH TRACKING CONTROL AND STABILIZATION OF MOBILE CART. ROBOT, 1995, 17(6): 358-362..
Abstract：Geometric path tracking control and stabilization of mobile cart are investigated in this paper. A control scheme is developed to track the desired geometric path in constant speed,and the convergence of actual motion path of cart to the desired one is verified In addition,the stabilization scheme of mobile cart is also proposed,which can move the cart from an arbitary position and attitude to the desired Ones.Simulation results are given to demonstrate the proposed schemes.
[1] Jean-Baptiate Pomet. Esplicit Design of Time-varying Stabilizing Control Laws for a Class of Controllable Systems Without Drift. System Control Letters. 1992.18,147-158.
[2] Brockett R B. Asymptotic Stability and Feedback Stabilization. ins Brockett R S. Miliman R S. Sussmann H J. Eda.Differential Geometric Control Theory,181-191.
[3] Lafferriere G. Motion Planning for Controllable Systems Without Drift. Proc of the 1991 IEEE Intel Conf on Robotics and Automation,1991:1148-1153.
[4] Richard M Murray. Shankar S. Vonbolonomic Motion Plannings Steering Using Sinusoids. IEEE Trana on Automatic Control,1993.38(5):700-716.
[5] Canudas de wit C, Sordalrn O J. Esponential Stabilization of Robots and Voholonomic Constraints. Proc of 30th CDC. 1991:692-697.
[6] Claude Samao. Time-varying Feedback Stabiliz:,tion of Carlike Wheeled Mobile Robots. Intel Jour of Robotics Research, 1993.12(1).
[7] Patarinaki S. Van Bruasel H. Thielemana. Path Tracking Control of Wheeled Mobile Robots. IFAC, 1993.3s 463-466.
[8] Yutaka Kanayama,Yoabibiko Kimura. Fumio Miyazaki. A Stable Tracking Control Method for an Autonomous Mobile Robot. 1990 IEEE Conf on Robotics and Automation.
[9] Oelen W. Van Anterungen J. Robust Tracking Control of Two-degrees-of-freedom Mlobile Robots. Control Eng Pracrice. 2(2):333-340.
[10] Surdalen U J,Egeland U. Stabilization of Voholonomic Systems by Diacretiaation. IFAC. 1993,4, 77-80.
[11] Harry Bergbuis. Henk Vijntrijer. Carlow Canudaa de Wit. Implementation of a Hybrid Stabilizing Controller on a Mobile Robot with Two Degrees of Freedom. 1994 IEEE Conf on Robotics and Automation. 1196-1201.
