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《中国工程科学》 >> 2007年 第9卷 第11期

基于车辆动力学的轨迹跟踪器设计

国防科学技术大学机电工程与自动化学院,长沙410073

资助项目 :国家自然科学基金资助项目(60234030) 收稿日期: 2006-06-27 修回日期: 2006-08-01

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摘要

轨迹跟踪是移动机器人导航中的核心问题之一。针对非完整运动约束车辆,利用反馈线性化方法设计了轨迹跟踪器,仿真研究了跟踪算法的鲁棒性。最后,介绍了工程实现中参数观测器设计等相关问题。

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