Автор(ы): Пестерев А. В. (ИПУ РАН, Лаборатория 16)Автор(ов): 1 Параметры публикацииТип публикации: ДокладНазвание: Stabilizing Control for a Wheeled Robot Following a Curvilinear PathНаименование конференции: 10th IFAC Symposium on Robot Control (SYROCO-2012, Dubrovnik, Croatia)Наименование источника: Proceedings of the 10th IFAC Symposium on Robot Control (SYROCO-2012, Dubrovnik, Croatia)Город: DubrovnikИздательство: IFAC PublicationГод издания: 2012Страницы: 1-6 АннотацияThe problem of finding a stabilizing control for a wheeled robot with constrained control resource following a curvilinear path is studied. The goal of the control is to bring the robot to an assigned path and to stabilize its motion along it. A new change of variable is suggested that reduces the problem of stabilizing robot's motion to that of stabilizing the zero solution in the form that admits feedback linearization. A control law stabilizing robot's motion along an arbitrary feasible curvilinear target path is synthesized. The new control is shown to be more efficient than the well-known linearizing feedback obtained from the celebrated chained-form representation of the system equations. For a straight target path, the closed-loop system is shown to be asymptotically stable for any initial conditions except for the case where the initial direction of motion is perpendicular to the target path. Библиографическая ссылка: Пестерев А.В. Stabilizing Control for a Wheeled Robot Following a Curvilinear Path / Proceedings of the 10th IFAC Symposium on Robot Control (SYROCO-2012, Dubrovnik, Croatia). Dubrovnik: IFAC Publication, 2012. С. 1-6.