Motion tracking control of nonholonomic systems including actuator dynamics

被引：0
|
作者：
Fu, Jun [1 ]
Chai, Tianyou [1 ]
机构：
[1] Northeastern Univ, State Key Lab Synthet Automat Proc Ind, Shenyang 110819, Liaoning, Peoples R China
来源：
2017 2ND INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM) | 2017年
关键词：
Motion control; Actuator dynamics; Cascaded systems; Backstepping; Nonholonomic mobile robot; MECHANICAL SYSTEMS; STABILIZATION; DESIGN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Motion tracking control of nonholonomic mobile robot systems including actuator dynamics is addressed in this paper. A tracking controller is designed at actuator level, which guarantees that the mobile robot tracks a given trajectory. A detailed numerical example is showed to illustrate and validate the proposed method in this paper.
引用
收藏
页码：25 / 30
页数：6
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