参考文献/References:
[1] De Luca A, OrioloG, Vend ittelliM. Contro l o fwheeled
m ob ile robo ts: An exper im enta l overv iew [ A ]. RAMSETE-
A rticulated andMob ileRobo tics for Serv ices and
Techno log ies [ C ]. Be rlin: Springer, 2001. 181
- 226.
[2] O rio lo G, DeLuca A, VendittelliM. WMR contro l v ia
dynam ic feedback linea rization: Des ign, imp lem entation
and exper im enta l validation [ J] . IEEE Transactions
on C ontro l System s Techno logy, 2002, 10 ( 6 ):
835- 852.
[3] FliessM, Lev ine J, M artin P, et a.l Design o f tra jec
tory stab iliz ing feedback for driftless flat system s[ A ].
Proc 3rd European Contro l Con f [ C ]. London:
Springerverlag, 1995. 1 882- 1 887.
[4] Jiang Z P, N ijm eije rH. Track ing control of mob ile ro
bots: A case study in backstepping [ J]. Automa tica,
1997, 33( 7): 1 393- 1 399.
[5] Do K D, Jiang Z P, Pan J. A g loba l outputfeedback
contro ller for simultaneous track ing and stab ilization of
unicy cletype mobile robots [ J]. IEEE T ransactions on
Robo tics and Automa tion, 2004, 20( 3): 589- 594.
[6] Laiou M C, A sto lfi A. D iscontinuous contro l o f h igh
order gene ra lized cha ined sy stem s [ J ]. System &
Control Letters, 1999, 37: 309- 322.
[7] Mo rin P, Pom et J B, Sam son C. Des ign o f hom ogene
ous tim evary ing stab ilizing contro l law s for dr iftless
contro llab le system s v ia oscillatory approx im ation o f
Lie brackets in c losed loop [ J]. SIAM Journa l on
Contro l and Optim ization, 2000, 38( 1): 22- 49.
[8] Mo rin P, Sam son C. Prac tica l stab ilization of dr iftless
system s on L ie groups: The transverse function ap
proach [ J]. IEEE T ransactions on Autom atic Contro ,l
2003, 48( 9): 1 496- 1 508.
[9] M orin P, Sam son C. Practica l and asym ptotic stab ili
zation o f chained system s by the transve rse function
contro l approach [ J]. S IAM Journa l on Contro l and
Op tim ization, 2004, 43( 1): 32- 57.
[10] Dixon W, Dawson D, Zhang F, et a.l G loba l expo
nen tia l track ing control of mob ile robo t system v ia a PE
condition [ J]. IEEE Trans Syst, M an, Cybern ( B ),
2000, 30( 1): 129- 142.
相似文献/References:
[1]贾鹤鸣,宋文龙,陈子印,等.基于神经网络反步法的移动机器人路径跟踪控制[J].南京理工大学学报(自然科学版),2014,38(01):27.
Jia Heming,Song Wenlong,Chen Ziyin,et al.Path following controller for mobile robots based on
neural network backstepping[J].Journal of Nanjing University of Science and Technology,2014,38(01):27.