论轮式移动结构的非完整约束及其运动控制$^{\bf 1)}$
周宇生*2)(
),文相容*,王在华†
),文相容*,王在华†
ON THE NONHOLONOMIC CONSTRAINTS AND MOTION CONTROL OF WHEELED MOBILE STRUCTURES1)
Zhou Yusheng*2)(),Wen Xiangrong*,Wang Zaihua†
),Wen Xiangrong*,Wang Zaihua†
图12. ${\pmb d}(t)$ 影响下独轮在平面上实际运动轨迹
Fig.12. Actual motion trajectory of the single-wheel under the effect of ${\pmb d}(t)$
