机械系统的采样数据控制

2018 14th International Conference "Stability and Oscillations of Nonlinear Control Systems" (Pyatnitskiy's Conference) (STAB) Pub Date : 2018-05-01 DOI:10.1109/STAB.2018.8408386

O. Peregudova, Irina Kudashkina, R. Hasanova

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引用次数: 0

摘要

针对非完整移动机器人的轨迹跟踪问题，研究了采样数据控制问题。研究了由两个独立电动机控制的具有一个前轮和两个后轮的移动机器人的动力学模型。采用仿真设计程序和反步法构造了一个采样数据控制器。

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On sampled-data control of mechanical systems

In the paper, the sampled-data control problem is investigated to provide a trajectory tracking of a nonholonomic mobile robot. We consider the dynamical model of the mobile robot which has one front free wheel and two rear wheels controlled by two independent electric motors. A sampled-data controller has been constructed using an emulation design procedure and backstepping method.

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来源期刊

2018 14th International Conference "Stability and Oscillations of Nonlinear Control Systems" (Pyatnitskiy's Conference) (STAB)

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