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	Dynamics model and feedback control of tracked robots
	Li Yan ; Yang Xiangdong ; Chen Hen
	2010-05-10 ; 2010-05-10
关键词	Practical Theoretical or Mathematical/ control system synthesis feedback linearisation techniques mobile robots robot dynamics/ pedrail mobile robot tracked robot force characteristics steady path tracing controller design feedback linearization tracked robot feedback control/ C3390C Mobile robots C1310 Control system analysis and synthesis methods E1550A Robotics E2230 Robot and manipulator mechanics
中文摘要	The pedrail has been widely applied to the design of the mobile robot. To improve the accuracy of its feedback control model, this article analyzes the force characteristics of the tracked robot, and proposes a kind of tracked robot model that is suitable for the design of the controller. On the basis of this model, a method of designing a steady path tracing controller for tracked robot is proposed according to the idea of feedback linearization, and meanwhile the conditions to avoid singularities is indicated also. The control model and the path tracing method proposed provide the theory basis for the design of the tracked robot control system.
语种	中文 ; 中文
出版者	Tsinghua Univ. Press ; China
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/25268]
专题	清华大学
推荐引用方式 GB/T 7714	Li Yan,Yang Xiangdong,Chen Hen. Dynamics model and feedback control of tracked robots[J],2010, 2010.
APA	Li Yan,Yang Xiangdong,&Chen Hen.(2010).Dynamics model and feedback control of tracked robots..
MLA	Li Yan,et al."Dynamics model and feedback control of tracked robots".(2010).

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