A novel trajectory-tracking control law for wheeled mobile robots
A novel trajectory-tracking control law for wheeled mobile robots
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DOI：
10.1016/j.robot.2011.06.005
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发表时间：
2011-11
影响因子：
4.3
通讯作者：
Sašo Blaič
中科院分区：
文献类型：
--
作者：
Sašo Blaič
本文提出了一种新的运动学模型，其中机器人姿态和系统状态之间的转换是双射的。在李亚普诺夫稳定性分析框架下，构造了一个非线性控制律。根据参考速度的一般要求，该控制律实现了系统的全局渐近稳定。对该控制律进行了广泛的分析，并与现有的一些全局稳定的控制律进行了比较。
In this paper a novel kinematic model is proposed where the transformation between the robot posture and the system state is bijective. A nonlinear control law is constructed in the Lyapunov stability analysis framework. This control law achieves a global asymptotic stability of the system based on the usual requirements for reference velocities. The control law is extensively analysed and compared to some existing, globally stable control laws.