差分驱动机器人的非线性控制器

2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) Pub Date : 2019-10-01 DOI:10.1109/CCAC.2019.8921360

Byron Hernández, Michael Felipe Cifuentes Molano, E. Giraldo

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引用次数: 0

摘要

本文提出了一种采用多变量精确反馈线性化方法的非线性控制器，并将其应用于在二维空间中运行的微分驱动机器人模型。该系统在给定路径上表现出优异的性能跟踪设定值，与线性控制器(如多变量PI控制器)相比，这提供了更好的控制行为。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A Nonlinear Controller for a Differential Driven Robot

In this paper, it is presented a nonlinear controller using a multivariable approach for the exact feedback linearization method, applied to the model of a differential driven robot operating into a two-dimensional space. The system shows an excellent performance tracking setpoints from a given path, and this provides a better control behavior compared to linear controllers, like the multivariable PI controller.

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来源期刊

2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)

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