非完整车辆的轨迹跟踪:概述和案例研究

Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI:10.1109/ROMOCO.2004.240574

P. Morin, C. Samson

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引用次数: 68

摘要

本文综述了非完整飞行器的轨迹跟踪问题。从控制设计和机器人应用的角度对几种控制目标进行了综述和讨论。为了说明和比较不同的方法，给出了一个类车车辆的显式控制律和仿真结果。

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Trajectory tracking for non-holonomic vehicles: overview and case study

The paper provides an overview of trajectory tracking problems for non-holonomic vehicles. Several control objectives are reviewed and discussed with the viewpoints of control design and robotics applications. In order to illustrate and compare different approaches, explicit control laws and simulation results are provided for a car-like vehicle.

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Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)

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