摘要
为解决具有两个驱动轮的受非完整约束移动机器人的轨迹跟踪问题,文章从机器人的动力学和运动学模型出发,设计出一种结构简单的控制器,该控制器利用单神经元网络的自学习和自适应能力,来克服未建模的系统扰动,并用Lyapunov函数对所设计的控制器进行了稳定性分析。最后仿真结果验证了所设计的控制器的有效性。
To solve the problem of path tracking for nonholonomic mobile robots with two drivable wheels, a new simple controller was designed based on the dynamic and kinematic models of mobile robot. Also the neural network was used to deal with unmodeled disturbances, and the stability of the controller was shown through the Lyapunov function. Finally, the effectiveness of the controller is demonstrated by simulation results.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2006年第5期1263-1266,共4页
Journal of System Simulation
