- Tytuł:
- Trajectory reproduction and trajectory tracking problem for the nonholonomic systems
- Autorzy:
- Ratajczak, A.
- Powiązania:
- https://bibliotekanauki.pl/articles/200125.pdf
- Data publikacji:
- 2016
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
nieholonomiczny układ
śledzenie trajektorii
trajectory reproduction
trajectory tracking
nonholonomic system - Opis:
- This paper introduces a new algorithm of trajectory reproduction and trajectory tracking for nonholonomic systems. The endogenous configuration space approach is employed as a guideline in the algorithm derivation. The derivation uses a trajectory reproduction error, which is an integral of the difference between the resultant trajectory and the desired trajectory over the motion horizon. Such a definition of the error allows to solve both the trajectory reproduction as well as the trajectory tracking problem. Considerable attention in the paper has been paid to the implementation aspects of the algorithm. The nonparametric approach is used together with a higher order of the integration method. The algorithm efficiency is illustrated with computer simulations accomplished for two nonholonomic systems: the dynamics of the double pendulum with a passive joint, and the kinematics of the unicycle.
- Źródło:
-
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2016, 64, 1; 63-70
0239-7528 - Pojawia się w:
- Bulletin of the Polish Academy of Sciences. Technical Sciences
- Dostawca treści:
- Biblioteka Nauki
Artykuł