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
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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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