非完整轮式移动机器人在R/sup /空间运动的一种新的通用自适应跟踪控制律

Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI:10.1109/ROMOCO.1999.791062

A. Mazur

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引用次数: 9

摘要

针对在R/sup /空间运动的非完整轮式移动机器人，提出了一种新的通用自适应跟踪控制算法。介绍了一种动态控制律，该律需要了解机器人沿期望轨迹的动力学知识。通过仿真研究，完成了可控子系统的指数稳定性和不可控变量的内部稳定性的证明。

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A new universal adaptive tracking control law for nonholonomic wheeled mobile robots moving in R/sup 3/ space

In this paper a new universal adaptive tracking control algorithm for nonholonomic wheeled mobile robots moving in R/sup 3/ space is presented. A dynamical control law requiring a knowledge of the robot dynamics along a desired trajectory is introduced. The proof of the exponential stability of a controllable sub-system together with the internal stability of an uncontrollable variables is completed with simulation study.

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Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)

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