轮式移动机器人的鲁棒阻尼控制

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI:10.1109/ROBOT.2000.846471

Sheng Lin, A. Goldenberg

{"title":"轮式移动机器人的鲁棒阻尼控制","authors":"Sheng Lin, A. Goldenberg","doi":"10.1109/ROBOT.2000.846471","DOIUrl":null,"url":null,"abstract":"In this paper, a novel robust damping control scheme is proposed for the tracking control of wheeled mobile robots in the presence of unknown dynamics and bounded disturbances. The knowledge of the bounds of uncertainties is not required. Global uniform boundedness of all tracking errors is guaranteed. The controller has a fairly simple structure and can be easily implemented. Simulation results illustrate the effectiveness of the proposed theory.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"181 6 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"15","resultStr":"{\"title\":\"Robust damping control of wheeled mobile robots\",\"authors\":\"Sheng Lin, A. Goldenberg\",\"doi\":\"10.1109/ROBOT.2000.846471\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, a novel robust damping control scheme is proposed for the tracking control of wheeled mobile robots in the presence of unknown dynamics and bounded disturbances. The knowledge of the bounds of uncertainties is not required. Global uniform boundedness of all tracking errors is guaranteed. The controller has a fairly simple structure and can be easily implemented. Simulation results illustrate the effectiveness of the proposed theory.\",\"PeriodicalId\":286422,\"journal\":{\"name\":\"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)\",\"volume\":\"181 6 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2000-04-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"15\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.2000.846471\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.2000.846471","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 15

摘要

针对存在未知动力学和有界扰动的轮式移动机器人跟踪控制问题，提出了一种新的鲁棒阻尼控制方案。不确定性界限的知识是不需要的。保证了所有跟踪误差的全局一致有界性。该控制器结构简单，易于实现。仿真结果验证了该理论的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Robust damping control of wheeled mobile robots

In this paper, a novel robust damping control scheme is proposed for the tracking control of wheeled mobile robots in the presence of unknown dynamics and bounded disturbances. The knowledge of the bounds of uncertainties is not required. Global uniform boundedness of all tracking errors is guaranteed. The controller has a fairly simple structure and can be easily implemented. Simulation results illustrate the effectiveness of the proposed theory.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)

自引率

0.00%

发文量