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
收藏
页码：155 / 169
页数：15
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