自动化学报2011，Vol.37Issue(4)：471-479,9.DOI:10.3724/SP.J.1004.2011.00471
多转向驱动拖挂式移动机器人镇定控制
Stabilization of Multi-steering Tractor-trailer Mobile Robot
摘要
Abstract
The problem of the set point stabilization for multi-steering tractor-trailer mobile robot (MSTTMR) which is a kind of special mechanical system is addressed.By the states and inputs transformation, the kinematics of the system with n steering trailers is converted into the multi-input power form.Based on the power form, a controller giving ρ-exponential convergence is designed to stabilize the original system and the stability of the controller is proved.A set of simulations for two-body MSTTMR is presented to show the validity of the proposed approach.关键词
多转向驱动拖挂式移动机器人/非完整约束/镇定控制/幂式系统Key words
Multi-steering tractor-trailer mobile robot (MSTTMR)/ nonholonomic constraint/ stabilization/ power form引用本文复制引用
苑晶,黄亚楼,孙凤池..多转向驱动拖挂式移动机器人镇定控制[J].自动化学报,2011,37(4):471-479,9.基金项目
国家自然科学基金(60805031),教育部博士点基金(200800551015),天津市自然科学基金(10JCYBJC07600)资助 （60805031）
