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9. 独轮的偏航转速误差
Fig.9. Yaw rotation speed error of the single-wheel
