Motion Tracking Control Design for a Class of Nonholonomic Mobile Robot Systems
研究了考虑执行器动力学的非完整移动机器人运动跟踪控制，设计了执行器层面的轨迹跟踪控制器，并通过数值算例验证了方法的有效性。
Motion tracking control design of nonholonomic mobile robot systems considering actuator dynamics is addressed in this paper. A trajectory tracking controller is designed at actuator level, which guarantees that the nonholonomic mobile robot tracks a given trajectory. A numerical example is shown to demonstrate and validate the proposed approach in this paper.