最优控制具有非完整性的两轮驱动机器人小车

研究了移动机器人反馈控制问题．这里所考虑的机器人是一个两轮驱动的具有非完整性的移动机器人小车．考虑了笛卡儿空间中轨线跟踪问题的扩展．且表明只要参考小车保持运动，在虚设的参考小车位形周围的小车位形的稳定成为可能．提出了最优控制律并给出了仿真结果。

A study on the problem of feedback control for movable robots was conducted. Here the robotstudied is a two-wheel driven nonholonomic cart,with its extension of trajectory tracking in Cartesian spaceconsidered. It was shown that the configuration stabilization of the cart around the configuration of a virtualreference cart becomes possible so long as the reference cart keeps in moving. An optimal control law wasproposed with illustrating simulation result given.

中国科学院机器人学开放研究实验室资助