移动机器人自适应控制与反馈控制的比较研究

2019 International Conference on Advanced Systems and Emergent Technologies (IC_ASET) Pub Date : 2019-03-01 DOI:10.1109/ASET.2019.8870993

Hela Sohnoun, Imen Saidi, D. Soudani

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引用次数: 1

摘要

本工作涉及移动机器人控制律的综合。首先，提出了一种状态反馈控制方法，并将其应用于线性化模型。其次，提出了一种自适应控制方法，并应用于所考虑的系统。从轨迹跟踪的角度比较了两种控制律的性能。

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Adaptive control and feedback control of a mobile robot : A comparative study

This work concerns the synthesis of control laws of a mobile robot. Firstly, a state feedback control is developed and applied to the linearized model. Second, an adaptive control is also proposed and applied to the system under consideration. The performances of the two control laws are then compared in terms of trajectory tracking.

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2019 International Conference on Advanced Systems and Emergent Technologies (IC_ASET)

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