存在滑移效应的类车WMR鲁棒路径跟踪

IEEE International Conference on Mechatronics, 2005. ICM '05. Pub Date : 2005-07-10 DOI:10.1109/ICMECH.2005.1529375

C. B. Low, D. Wang

{"title":"存在滑移效应的类车WMR鲁棒路径跟踪","authors":"C. B. Low, D. Wang","doi":"10.1109/ICMECH.2005.1529375","DOIUrl":null,"url":null,"abstract":"In this paper, backstepping-based robust path following controllers are presented to tackle the skidding problem for a type (1,1) car-like WMR. The controllers are designed based on a new general model, which allows the perturbations to be estimated effectively. Backstepping-based controllers are designed based on the estimated information and enhanced by robust control techniques. Simulation results show good respond to the skidding effects.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"81 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"15","resultStr":"{\"title\":\"Robust path following of car-like WMR in the presence of skidding effects\",\"authors\":\"C. B. Low, D. Wang\",\"doi\":\"10.1109/ICMECH.2005.1529375\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, backstepping-based robust path following controllers are presented to tackle the skidding problem for a type (1,1) car-like WMR. The controllers are designed based on a new general model, which allows the perturbations to be estimated effectively. Backstepping-based controllers are designed based on the estimated information and enhanced by robust control techniques. Simulation results show good respond to the skidding effects.\",\"PeriodicalId\":175701,\"journal\":{\"name\":\"IEEE International Conference on Mechatronics, 2005. ICM '05.\",\"volume\":\"81 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2005-07-10\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"15\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE International Conference on Mechatronics, 2005. ICM '05.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICMECH.2005.1529375\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE International Conference on Mechatronics, 2005. ICM '05.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMECH.2005.1529375","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

针对一类(1,1)类小车WMR的打滑问题，提出了一种基于后退的鲁棒路径跟踪控制器。该控制器是基于一种新的通用模型设计的，可以有效地估计扰动。基于反演的控制器是基于估计信息设计的，并通过鲁棒控制技术进行增强。仿真结果表明，该系统对滑移效应有较好的响应。

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 path following of car-like WMR in the presence of skidding effects

In this paper, backstepping-based robust path following controllers are presented to tackle the skidding problem for a type (1,1) car-like WMR. The controllers are designed based on a new general model, which allows the perturbations to be estimated effectively. Backstepping-based controllers are designed based on the estimated information and enhanced by robust control techniques. Simulation results show good respond to the skidding effects.

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

IEEE International Conference on Mechatronics, 2005. ICM '05.

自引率

0.00%

发文量