CONTROL OF NONHOLONOMIC WHEELED MOBILE ROBOTS BY STATE-FEEDBACK LINEARIZATION

被引：205
作者：
DANDREANOVEL, B [1 ]
CAMPION, G [1 ]
BASTIN, G [1 ]
机构：
[1] CESAME,B-1348 LOUVAIN,BELGIUM
来源：
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 1995年 / 14卷 / 06期
关键词：
D O I：
10.1177/027836499501400602
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
We are concerned in this article with the control of wheeled mobile robots, which constitute a class of nonholonomic mechanical systems. More precisely, we are interested in solving the problem of tracking with stability of a reference trajectory, by means of linearizing ''static'' and ''dynamic'' state feedback laws. We give conditions to avoid possible singularities of the feedback laws.
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收藏
页码：543 / 559
页数：17
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