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基于观测器设计的移动小车自适应轨迹跟踪控制研究

Study of Mobile Robot’s Adaptive Tracking Control Based On Observer Design
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摘要 提出了一种基于观测器设计的自适应轨迹跟踪控制算法,在无法准确测量移动机器人位姿的情况下,基于其完整动力学模型,实现机器人轨迹跟踪控制问题。方法考虑了实际参数的移动机器人完整动力学模型,将位姿观测器和自适应控制策略相结合,设计了一种移动机器人完整的自适应观测器轨迹跟踪控制策略。仿真结果表明该控制策略的正确性和有效性。 A stable adaptive-observer control algorithm, which coped with the tracking control of robot in full dynamics level without exactly measuring for robot pose, was proposed. Considering the parameters of the wholly dynamic modeling of the actual mobile robot, the method combines the position-error observer with the adaptive strategy to extend the kinematics level into the full dynamic level. Simulation results confirm the validity and effectiveness of the proposed control strategy.
作者 孙子文 陈鹏程 纪志成
机构地区 江南大学电气自动化研究所
出处 《系统仿真学报》 EI CAS CSCD 北大核心 2007年第20期4773-4775,4826,共4页 Journal of System Simulation
基金 江苏省高技术研究计划(BG2005014)
关键词 轨迹跟踪控制 观测器设计 自适应控制 移动机器人 tracking control observer design adaptive control mobile robot
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
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参考文献15

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系统仿真学报
2007年 第20期

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