Читать книгу Robot Modeling and Control - Mark W. Spong - Страница 47

Chapter 14 is devoted to the control of mobile robots, which are examples of so-called nonholonomic systems. We discuss controllability, stabilizability, and tracking control for this class of systems. Nonholonomic systems require the development of new tools for analysis and control, not treated in the previous chapters. We introduce the notions of chain-form systems, and differential flatness, which provide methods to transform nonholonomic systems into forms amenable to control design. We discuss two important results, Chow’s theorem and Brockett’s theorem, that can be used to determine when a nonholonomic system is controllable or stabilizable, respectively.