移动机器人拖车的后退路径跟踪控制设计论文.pdf

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移动机器人拖车的后退路径跟踪控制设计论文.pdf

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th Proceedings of the 25 Chinese Control Conference 7-11 August, 2006, Harbin, Heilongjiang 100083 E-mail: whuo@163.net : , : Backward Path-following Control of Mobile Robots with Trailers Wei Huo, Zuan Cheng The Seventh Research Division, Beijing University of Aeronautica and Astronautics, Beijing 100083 E-mail: whuo@163.net Abstract: The backward movement control for a mobile robot with n trailers to follow a given path is investigated in this paper. First, the iterative inverse velocity relationship for the robot-trailer system with off-axle hitching is derived. By the use of the control design scheme based on inverse velocity relationship and output-feedback linearization method, two backward path-following control laws are presented for different task requirements and the convergence of closed-loop systems is analyzed. Experiment result demonstrates effectiveness of the proposed method. Key Words: robot-trailer system control, trailers with off-axle hitching, path-following control, backward path tracking 1 (Introduction) , . : , n ; , .