基于模型参考自适应控制的不确定参数移动机器人跟踪控制

2013 International Conference on Control, Automation and Information Sciences (ICCAIS) Pub Date : 2013-11-01 DOI:10.1109/ICCAIS.2013.6720523

T. Manh, M. Xuan, P. Doan, Thang-Phan Quoc

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引用次数: 2

摘要

针对具有参数不确定性和非结构化动力学的移动机器人，提出了一种模型参考自适应控制算法，以保证机器人能渐近地跟踪到期望的轨迹，并避免抖动。控制器的设计分为两个连续的部分;一种是非线性运动控制器，另一种是利用移动机器人执行器反馈信号的模型参考自适应控制器。仿真结果表明了该控制器的有效性和应用能力。

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Tracking control for mobile robots with uncertain parameters based on Model Reference Adaptive Control

The paper presents a Model Reference Adaptive Control algorithm for mobile robots with parameter uncertainties and unstructured dynamics to guarantee that a robot can track to desired trajectory asymptotically and avoid jerky. The controller has been designed in two consecutive parts; one is a nonlinear kinematic controller and the other is the model reference adaptive controller using the feedback signal from the mobile robot's actuator. The simulation results show the efficiency and the application ability of the proposed controller.

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2013 International Conference on Control, Automation and Information Sciences (ICCAIS)

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