提出新方法解决动态双影车模型圆周运动的轨道稳定控制难题
On orbital stabilization of a circular motion primitive for a dynamic extension of the Dubins car model
- 基于非标准横向坐标设计控制器，突破传统线性化方法限制
- 发现标准横向线性化不稳定，需满足特定结构条件才可稳定
- 适用于需精确轨迹跟踪的移动机器人控制场景
本文研究动态扩展的双影车模型在圆周运动轨迹上的轨道稳定性问题，采用横向线性化框架。研究表明，对应的横向线性化系统不稳定且无法通过线性状态反馈实现稳定，因此不能直接应用传统的基于线性化的轨道稳定方法。主要贡献是提出一组显式且可验证的条件，用于判断基于横向线性化的控制器设计是否仍适用。这些条件依赖于运动邻域内动力学的特定结构，以及使用非标准横向坐标进行控制器设计与分析。数值仿真验证了所提设计流程的有效性。
原文摘要 · Abstract (English)
This paper addresses orbital stabilization of a circular motion primitive for a dynamic extension of the Dubins car model within a transverse-linearization framework. We show that the corresponding transverse linearization is unstable and not stabilizable by linear state feedback. Therefore, the standard linearization-based approach to orbital stabilization cannot be applied directly. The main contribution is a set of explicit and verifiable conditions that characterize when a controller design based on transverse linearization remains applicable. These conditions rely on the specific structure of the dynamics in a neighborhood of the motion and on the use of non-standard transverse coordinates for controller design and analysis. Numerical simulations illustrate the proposed design procedure.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。