Discontinuous feedback stabilization of nonholonomic wheeled mobile robots

被引：6

作者：

Zhang, MZ

Hirschorn, RM

机构：

[1] Dept. of Mathematics and Statistics, Queen's University at Kingston, Kingston

来源：

DYNAMICS AND CONTROL | 1997年 / 7卷 / 02期

基金：

加拿大自然科学与工程研究理事会;

关键词：

D O I：

10.1023/A:1008227917007

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present a new discontinuous stabilizing controller for a class of wheeled mobile robots with nonholonomic constraints. This stabilizing controller has a number of desirable properties: it is simple, the state of the robot asymptotically converges to the target configuration, and the resulting trajectory is smooth. Theoretical and simulation results are both presented.

引用

页码：155 / 169

页数：15

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