轮式移动机器人的非线性跟踪控制

2014 15th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA) Pub Date : 2014-12-01 DOI:10.1109/STA.2014.7086727

Ghania Zidani, S. Drid, L. Chrifi-Alaoui, D. Arar, P. Bussy

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引用次数: 4

摘要

研究了非完整轮式移动机器人的轨迹跟踪问题。该类机器人的非完整约束以及系统参数和扰动的不确定性给轮式移动机器人的轨迹跟踪带来了困难和问题，限制了其应用范围。为了解决这一问题，提出了一种基于李雅普诺夫理论与滑模控制相结合的非线性控制器。仿真结果表明了所提控制方法的跟踪性能。

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Nonlinear tracking control of a wheeled mobile robot

This paper investigates the problem of trajectory tracking for nonholonomic wheels mobile robots. Constraints nonholonomic that arise in this type of robot, and the uncertainties in the system parameters and disturbances present difficulties and problems in trajectory tracking of mobile wheeled robots, which limits the region of application. To solve this problem, a nonlinear controller based on Lyapunov theory associated with sliding mode control is developed. The simulation results show the tracking performance of the proposed control.

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来源期刊

2014 15th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)

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