Affiliation:
1. Beijing Technology and Business University
2. University of Science and Technology Beijing
Abstract
Trajectory-tracking problem of wheeled mobile robots is investigated. Adaptive control scheme utilized has only one control signal. The control input gives out the velocity increments which will be utilized to adjust the pose of WMR so as to track the desired trajectories. The controller adopted is simple to realize and easy to tune the parameters, which is benefit to real applications. Numerical simulation results show that the control scheme is valid.
Publisher
Trans Tech Publications, Ltd.
Reference19 articles.
1. M. L. Corradini, G. Orlando. Control of mobile robots with uncertainties in the dynamical model: a discrete time sliding mode approach with experimental results. Control Engineering Practice 2002 10 23-24.
2. R. W. Brockett. Asymptotic stability and feedback stabilization. Differential Geometric Control Theory, Boston: Birkhauser, pp.181-208, (1983).
3. I. Kolmanovsky, N. H. McClamroch. Development in nonholonomic control problems. IEEE Control System Magazine, 1995, 20-36.
4. Y. Kanayama, Y. Kimura, F. Miyazaki, T. Noguchi. A stable tracking control method for an autonomous mobile robot. Proceedings of IEEE Conference on Robotics and Automation, 1990, 384-389.
5. W. Oelen, J. van Amerongen. Robust tracking control of two-degrees-of-freedom mobile robots. Control Engineering Practice, 1994, 2(2), 333-340.
Cited by
1 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献