[1]李世华,田玉平.移动小车的有限时间轨迹跟踪控制[J].东南大学学报(自然科学版),2004,34(1):113-116.[doi:10.3969/j.issn.1001-0505.2004.01.027]
　Li Shihua,Tian Yuping.Trajectory tracking control of mobile robots in finite time[J].Journal of Southeast University (Natural Science Edition),2004,34(1):113-116.[doi:10.3969/j.issn.1001-0505.2004.01.027]
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移动小车的有限时间轨迹跟踪控制()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
34
期数:
2004年第1期
页码:
113-116
栏目:
自动化
出版日期:
2004-01-20

文章信息/Info

Title:
Trajectory tracking control of mobile robots in finite time
作者:
李世华;  田玉平
东南大学自动控制系, 南京 210096
Author(s):
Li Shihua;  Tian Yuping
Department of Automatic Control Engineering, Southeast University, Nanjing 210096, China
关键词:
移动小车;  轨迹跟踪;  有限时间
Keywords:
mobile robot;  trajectory tracking;  finite time
分类号:
TP13
DOI:
10.3969/j.issn.1001-0505.2004.01.027
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.仿真结果表明了该方法的有效性.
Abstract:
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.

参考文献/References:

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备注/Memo

备注/Memo:
作者简介: 李世华(1975—),男,博士,副教授,lsh@seu.edu.cn.
更新日期/Last Update: 2004-01-20