Path following control of mobile robot with a trailer

被引：0

作者：

Cheng Zuan ^{[1
]}

Huo Wei ^{[1
]}

机构：

[1] Beihang Univ, Res Div 7, Beijing 100083, Peoples R China

来源：

Proceedings of the 24th Chinese Control Conference, Vols 1 and 2 | 2005年

关键词：

mobile robot; tr; ilers; path following; nonholonomic constraints;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A globally asymptotically stable path following control law for the mobile robot with a off-axle hitching trailer is presented in this paper. Firstly, the kinematic equation of this mobile robot system with nonholonomic constraints is derived. Based oil the model a proper system output is defined and an output feedback path following control law is designed. The simulation result shows the effectiveness of the proposed method.

引用

页码：1218 / 1221

页数：4