38998

Автор(ы): 

Автор(ов): 

1

Параметры публикации

Тип публикации: 

Статья в журнале/сборнике

Название: 

Synthesis of a Stabilizing Control for a Wheeled Robot Following a Curvilinear Path

ISBN/ISSN: 

0005-1179

DOI: 

10.1134/S000511791207003X

Наименование источника: 

  • Automation and Remote Control

Обозначение и номер тома: 

vol. 73, no. 7

Город: 

  • Moscow

Издательство: 

  • PLEIADES PUBLISHING Ltd.

Год издания: 

2012

Страницы: 

1134-1144
Аннотация
The synthesis control problem for the plane motion of a wheeled robot with con- strained control resource is studied. The goal of the control is to bring the robot to an assigned curvilinear trajectory 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 curvilinear target trajectory is synthesized. 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. Synthesis of a Stabilizing Control for a Wheeled Robot Following a Curvilinear Path // Automation and Remote Control. 2012. vol. 73, no. 7. С. 1134-1144.

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