| 非完整移动机器人轨迹跟踪自适应控制器设计 |
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| 引用本文： | 李会来,李小民,陈静华. 非完整移动机器人轨迹跟踪自适应控制器设计[J]. 传感器与微系统, 2011, 30(5): 104-106,109 |
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| 作者姓名： | 李会来 李小民 陈静华 |
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| 作者单位： | 军械工程学院,光学与电子工程系,河北,石家庄,050003 |
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| 摘 要： | 针对轮式移动机器人的非完整运动学模型,将自适应反演控制技术和李亚普诺夫稳定性理论应用于机器人轨迹跟踪控制,设计了具有全局渐近稳定性的自适应轨迹跟踪控制器,并在Matlab环境下实现了移动机器人对直线和椭圆2种轨迹追踪的仿真实验.实验表明:该控制方法在轨迹跟踪控制中有较好的航向跟踪效果,对机器人非完整系统模型的非线性特性...
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| 关 键 词： | 移动机器人 非完整系统 自适应控制 反演 |
Design of adaptive trajectory tracking controller for nonholonomic mobile robots |
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| LI Hui-lai,LI Xiao-min,CHEN Jing-hua. Design of adaptive trajectory tracking controller for nonholonomic mobile robots[J]. Transducer and Microsystem Technology, 2011, 30(5): 104-106,109 |
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| Authors: | LI Hui-lai LI Xiao-min CHEN Jing-hua |
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| Affiliation: | LI Hui-lai,LI Xiao-min,CHEN Jing-hua(Department of Optics and Electronics Engineering,Ordnance Engineering College,Shijiazhuang 050003,China) |
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| Abstract: | To deal with the model of nonholonomic kinematics for mobile robots,adaptive backstepping control and Lyapunov's stability theory are applied to the robot trajectory tracking control,an adaptive trajectory tracking controller with global asymptotic stability are designed.The simulation experiment of tracking linear and elliptical trajectory under the proposed controller for mobile robot is performed under Matlab environment.The result shows that this control method has better navigational tracking effect as... |
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| Keywords: | mobile robot nonholonomic systerm adaptive control backstepping |
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