具有速度限制的两轮移动机器人时变控制律的实用镇定

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05. Pub Date : 2005-06-23 DOI:10.1109/ROMOCO.2005.201425

D. Pazderski, K. Kozlowski

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引用次数: 8

摘要

针对两轮移动机器人控制中的调节和轨迹跟踪问题，提出了一种新的时变运动学算法，并保证了算法的实际稳定性。这个命题是基于W. Dixon等人(2003)和P. Morin和C. Samson(2003)所做的工作。本文的重点是选择合适的跟踪精度，以限制控制信号的频率，提高暂态阶段的质量。利用实际移动机器人和视觉定位系统对不同的输入饱和度值进行了大量的实验，验证了理论结果对于调节问题的正确性。

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Practical stabilization of two-wheel mobile robot with velocity limitations using time-varying control law

This paper presents a new time-varying kinematic algorithm ensuring practical stabilization for the regulation and trajectory tracking (for both admissible and non-admissible trajectories) problem applied to control of two-wheel mobile robot. This proposition is based on work done by W. Dixon et al. (2003) and P. Morin and C. Samson (2003). The significant part of the paper concentrates on choosing suitable accuracy of tracking in order to limit frequency of control signal and to improve quality of transient stage. Theoretical results are verified for regulation problem by extensive experimental work using real mobile robot and vision localization system with respect to the different values of input saturation.

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Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.

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