| 基于观测器的轮式移动机器人路径跟踪控制 |
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| 引用本文： | 马保离.基于观测器的轮式移动机器人路径跟踪控制[J].控制理论与应用,2007,24(5):756-760. |
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| 作者姓名： | 马保离 |
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| 作者单位： | 北京航空航天大学七研,北京,100083 |
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| 基金项目： | 国家自然科学基金资助项目(60274005,60334030) |
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| 摘 要： | 研究基于状态观测器的轮式移动机器人的路径跟踪控制问题.首先简要回顾了基于状态反馈的移动机器人的路径跟踪控制问题;进而通过适当的状态变换将移动机器人模型转换为合适的形式,并在移动机器人的位置可以测量的情况下设计了一种可保证状态观测误差指数收敛的状态观测器;最后结合状态反馈路径跟踪控制器和所设计的观测器得到了一种基于观测器的路径跟踪控制器,该控制器可以保证移动机器人的运动轨迹指数收敛到期望路径上.仿真结果证实了所提出的基于观测器的路径跟踪控制器的有效性.
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| 关 键 词： | 轮式移动机器人 状态观测器 路径跟踪 |
| 文章编号： | 1000-8152（2007）05-0756-05 |
| 收稿时间： | 2005/8/29 0:00:00 |
| 修稿时间： | 2005-08-29 |
Observer-based path following control of wheeled mobile robots |
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| MA Bao-li.Observer-based path following control of wheeled mobile robots[J].Control Theory & Applications,2007,24(5):756-760. |
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| Authors: | MA Bao-li |
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| Affiliation: | The Seventh Research Division, Beijing University of Aeronautics and Astronautics, Beijing 100083, China |
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| Abstract: | The observer-based path following control problems are investigated in this work.Firstly,the state feedback path following control is reviewed brie?y.Secondly,by converting the model of mobile robots to an advantageous form,an exponential convergence state observer is constructed based on position measurements.Furthermore,an observer-based path following control law is obtained by combining the state feedback control law and the proposed state observer,guaran-teeing exponential convergence of the state trajectory to the desired path.Finally,simulation results show the effectiveness of the proposed observer-based path following control law. |
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| Keywords: | wheeled mobile robots state observer path following |
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