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Motion planning of nonholonomic systems with tracking control Lyapunov function
Peng Y(彭艳); Liu M(刘梅); Tang ZJ(唐智杰); Xie SR(谢少荣); Luo J(罗均)
作者部门机器人学研究室
会议名称2010 International Conference on Frontiers of Manufacturing and Design Science, ICFMD2010
会议日期December 11-12, 2010
会议地点Chongqing, China
会议主办者Control Engineering and Information Science Research Association; Int. Front. Sci. Technol. Res. Assoc.; Trans Tech Publications; Chongqing Xueya Conferences Catering Co.,Ltd; Chongqing University of Technology
会议录名称Applied Mechanics and Materials
出版者Trans Tech Publications
出版地Clausthal-Zellerfeld, Germany
2010
页码3992-3996
收录类别EI ; CPCI(ISTP)
EI收录号20110313586570
WOS记录号WOS:000302594201375
产权排序1
ISSN号1660-9336
ISBN号978-3-03785-004-6
关键词Differential Equations Lyapunov Functions Lyapunov Methods Manufacture Motion Planning Navigation Trajectories
摘要A common approach to motion planning of robots and vehicles involves finding suitable trajectories for the positions of each configuration variable, and then using feedback to regulate the system to these trajectories. However, when the system has less actuator than dynamical degrees of freedom, it is not always possible to do this arbitrarily. In this paper a tracking control Lyapunov function (TCLF) is proposed to guarantee that the trajectory generation is convergent and executable under nonholonomic constraint, and the simulation result conducted on surface vehicle shows its effectiveness. © (2011) Trans Tech Publications.
语种英语
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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10444
专题机器人学研究室
作者单位1.School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, China
2.State Key Laboratory of Robotics, China
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GB/T 7714
Peng Y,Liu M,Tang ZJ,et al. Motion planning of nonholonomic systems with tracking control Lyapunov function[C]//Control Engineering and Information Science Research Association; Int. Front. Sci. Technol. Res. Assoc.; Trans Tech Publications; Chongqing Xueya Conferences Catering Co.,Ltd; Chongqing University of Technology. Clausthal-Zellerfeld, Germany:Trans Tech Publications,2010:3992-3996.
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