Motion planning of nonholonomic systems with tracking control Lyapunov function

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	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)
	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
内容类型	会议论文
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.