Digital control of nonholonomic systems two case studies

摘要

It is shown, through two classical examples, that multirate control can be very effective for solving the motion planning problem. The theory is discussed for a car with one trailer and a hopping robot. Simulation results concerning exact steering and path following are presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>