摘要
讨论了基于运动学模型的移动小车的轨迹跟踪控制问题 .利用有限时间控制技术 ,提出了一种连续的状态反馈跟踪控制律 ,使得对角速度不为 0的期望轨迹 ,移动小车能够在有限时间内完全跟踪上期望轨迹 .而且提出的跟踪控制律不存在奇异点 .
The trajectory tracking control problem of the kinematic model of a mobile robot is discussed. Using finite time control technique, a continuous state feedback control law for trajectory tracking is developed. The proposed control law can guarantee that the mobile robot will track the desired trajectory in finite time when the desired rotation velocity is nonzero. Furthermore, the proposed tracking control law has no singular points. Simulation results are provided to demonstrate the effectiveness of our method.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2004年第1期113-116,共4页
Journal of Southeast University：Natural Science Edition
关键词
移动小车
轨迹跟踪
有限时间
mobile robot
trajectory tracking
finite time
