Navigation and control of the motion of a back wheel drive tricycle

被引：0
|
作者：
Yavin, Y
机构：
[1] Laboratory for Decision and Control, Dept. of Elec. and Electron. Eng., University of Pretoria, Pretoria
来源：
MATHEMATICAL AND COMPUTER MODELLING | 1997年 / 25卷 / 11期
关键词：
tricycle; nonholonomic constraints; path controllability;
D O I：
10.1016/S0895-7177(97)00081-2
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This work deals with the guidance and control of the motion of a back wheel drive tricycle. Denote by O the center of mass of the tricycle. Given N points P-i, i = 0,..., N - 1 in the horizontal plane, a finite time interval [0, t(f)], and a sequence of times tau(0) = 0 < tau(1) < ... < tau(N-1) = t(f). Based on a dynamical model of the tricycle, and by using the concept of path controllability, control laws are derived for the tricycle's pedalling moment and directional moment such that O will pass through P-j at the time tau(j), i = 0,..., N - 1, respectively.
引用
收藏
页码：23 / 29
页数：7
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