基于Lyapunov的QBOT-2轨迹跟踪动态控制

2020 IEEE Integrated STEM Education Conference (ISEC) Pub Date : 2020-08-01 DOI:10.1109/ISEC49744.2020.9397845

M.A.S. Vazquez, Mateusz Ardito-Proulx, S. Wadoo

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引用次数: 0

摘要

本文研究了轮式移动机器人QBOT2的非线性运动和动态控制。本文介绍了该系统的轨迹跟踪控制器的设计与仿真。运动学控制器是一种基于李雅普诺夫的非线性反馈控制。采用反步法设计了动态控制器。控制器采用基于MATLAB-Simulink的QUARC软件在系统硬件上实现。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Lyapunov Based Trajectory Tracking Dynamic Control for a QBOT-2

This paper presents the nonlinear kinematic and dynamic control for a QBOT2, a wheeled mobile robot (WMR). The work presents the design and simulation of a trajectory tracking controller for the system. The kinematic controller is a Lyapunov based nonlinear feedback control. The method of Backstepping is used to design the dynamic controller. The controllers are implemented on the system hardware using QUARC, a MATLAB-Simulink based software.

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来源期刊

2020 IEEE Integrated STEM Education Conference (ISEC)

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