Trajectory tracking control of nonholonomic mobile robots

被引：0
|
作者：
Li, Shi-Hua [1 ]
Tian, Yu-Ping [1 ]
机构：
[1] Dept. of Automat. Control, Southeast Univ., Nanjing 210096, China
来源：
| 2002年 / Northeast University卷 / 17期
关键词：
Computer simulation - Constraint theory - Convergence of numerical methods - Dynamics - Kinematics - Mathematical models - Theorem proving - Tracking (position);
D O I：
暂无
中图分类号：
学科分类号：
摘要：
The trajectory tracking control problem of the kinematic model of a mobile robot with nonholonomic constraints is discussed. Given some mild conditions, the reference model can be globally tracked with exponential convergence. The method especially solves the tracking problem of the reference model whose angular velocity and linear velocity both tend to zero. The method is also extended to the dynamic extension model of nonholonomic mobile robots. Simulation results validate the theoretical results.
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