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本文运用数学解析方法导出了牵引系统跟踪方程。指出,一般的跟踪问题最终均可通过反复解一类黎卡提方程获得解决。文中还以几个常见的跟踪问题为例,通过实验验证了上述理论的正确性。
In this paper, the traction system tracking equation is derived by mathematical analysis. It is pointed out that the general tracking problem can be finally solved by iteratively solving a class of Riccati equations. Taking several common tracking problems as examples, the correctness of the above theory is verified through experiments.