Motion planning of nonholonomic systems with tracking control Lyapunov function
文献类型：会议论文
| 作者 | Peng Y(彭艳); Liu M(刘梅); Tang ZJ(唐智杰); Xie SR(谢少荣); Luo J(罗均) |
| 出版日期 | 2010 |
| 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 |
| 关键词 | Differential equations Lyapunov functions Lyapunov methods Manufacture Motion planning Navigation Trajectories |
| 页码 | 3992-3996 |
| 中文摘要 | 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 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 | Applied Mechanics and Materials
 |
| 会议录出版者 | Trans Tech Publications |
| 会议录出版地 | Clausthal-Zellerfeld, Germany |
| 语种 | 英语 |
| ISSN号 | 1660-9336 |
| ISBN号 | 978-3-03785-004-6 |
| WOS记录号 | WOS:000302594201375 |
| 源URL | [http://ir.sia.cn/handle/173321/10444]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Peng Y,Liu M,Tang ZJ,et al. Motion planning of nonholonomic systems with tracking control Lyapunov function[C]. 见:2010 International Conference on Frontiers of Manufacturing and Design Science, ICFMD2010. Chongqing, China. December 11-12, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
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