摘要
分析了不确定的具有非完整约束轮式移动机器人系统的轨迹跟踪问题,提出了一种自适应的轨迹跟踪控制方法,该方法在运动学模型的基础上通过引入状态微分反馈实现.同时,该控制方法提出在对轮式移动机器人进行导航时引入人工场,使其和位姿误差一起作用完成导航控制.基于轮式移动机器人的仿真实验,以及实际轮式移动机器人的控制实验表明,该方法可以对不确定的轮式移动机器人轨迹跟踪进行有效控制,而且在导航中使轮式移动机器人具有更理想的轨迹.
The trajectory tracking control problem of the uncertain wheeled mobile robot with nonholonomic constraint was analyzed. A new adaptive tracking controller with a state derivative feedback procedure was presented based on the kinematic models. In this controller an artificial field was combined with the posture error to navigate the wheeled mobile robots. The robustness of the controller was confirmed by Lyapunov stability theory, and the effectiveness of the controller was demonstrated via computer simulations and their practice.
出处
《西安交通大学学报》
EI
CAS
CSCD
北大核心
2005年第3期252-255,共4页
Journal of Xi'an Jiaotong University
基金
陕西省机械制造装备重点实验室资助项目(03JF06).
关键词
轮式移动机器人
非完整系统
轨迹跟踪
人工场
Adaptive algorithms
Computer simulation
Dynamics
Kinematics
Lyapunov methods
Motion control
State feedback
Tracking (position)
