35109

Автор(ы): 

Автор(ов): 

3

Параметры публикации

Тип публикации: 

Статья в журнале/сборнике

Название: 

Canonical Representation of a Nonstationary Path Following Problem

ISBN/ISSN: 

1064-2307

Наименование источника: 

  • Journal of Computer and Systems Sciences International

Обозначение и номер тома: 

Т. 54, № 4

Город: 

  • Москва

Издательство: 

  • Pleiades Publishing, Ltd.

Год издания: 

2015

Страницы: 

656-670
Аннотация
The path following problem for kinematic models of wheeled robots governed by nonlinear nonstationary affine systems with scalar control is considered. The concept of a canonical representation for this problem is introduced. The path following problem in a canonical form is stated as that of stabilizing zero solution with respect to a part of variables and is easily solved by applying feedback linearization technique. The original problem is shown to reduce to a canonical form by applying a time-scale transformation and converting the intermediate affine system obtained to a normal form. It is noted that such a representation is not unique and depends on the choice of the time-scale transformation applied. Advantages and disadvantages of the three canonical representations obtained by means of three different, earlier applied time-scale transformations are discussed. An example of the path following problem described by an affine system with a nonstationary drift field is presented.

Библиографическая ссылка: 

Пестерев А.В., Рапопорт Л.Б., Ткачев С.Б. Canonical Representation of a Nonstationary Path Following Problem / Journal of Computer and Systems Sciences International. М.: Pleiades Publishing, Ltd., 2015. Т. 54, № 4. С. 656-670.

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