存在解耦滑移效应的独轮车机器人建模与控制

1999 European Control Conference (ECC) Pub Date : 1999-08-01 DOI:10.23919/ECC.1999.7099699

M. Ellouze, B. d'Andréa-Novel

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引用次数: 5

摘要

本文研究存在滑动效应的独轮车式轮式移动机器人的控制问题。为了控制目的，我们详细阐述了两个模型。在第一个模型中，我们只考虑滑动效应。在第二个模型中，我们只引入了滑移效应。对于每个模型，我们都提出了一个鲁棒控制律来对抗滑动效应，以解决速度跟踪问题。

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Modeling and control of unicycle type-robots in presence of decoupled slipping and skidding effects

In this paper we are concerned with the control of unicycle-type wheeled mobile robots in presence of sliding effects. We elaborate two models for control purpose. In the first one, we take into account only the slipping effects. In the second model, we introduce only the skidding effects. For each model, we propose a robust control law against the sliding effects to solve a velocity tracking problem.

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1999 European Control Conference (ECC)

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