Cooperative Control of Multiple Robotic （合作控制多个机器人）.pdfVIP

Cooperative Control of Multiple Robotic Vehicles: Theory and Practice Trajectory tracking Path-following control EECI Graduate School on Control Supélec, Feb. 21-25, 2011 A word about T Tracking and P Following Path following Trajectory Tracking • Reference path given in a • Time and space reference time-free parameterization trajectory • Constant forward velocity • The vehicle may turn back • ‘Smoother’ convergence to in its attempt to be at a the path given reference point at a prescribed time Reference path Reference trajectory Possible vehicle Space trajectory Space x Time Path-following is motivated by applications in which spatial errors are more critical than temporal errors Reference-tracking versus path-following Additional design of freedom  The reference-tracking problem is subjected to the limitations imposed by the unstable zero-dynamics.  The path-following problem is not subjected to these limitations  The freedom to design a timing law is a major advantage of path- following over reference tracking. A. Pedro Aguiar, João P. Hespanha, and Petar Kokotović, Path-Following for Non-Minimum Phase Systems Removes Performance Limitations. IEEE Transactions on Automatic Control, Vol. 50, No. 2, pp. 234-239, Feb. 2005. Position tracking of an underactuated Hovercraft