| 引用本文: | 庞海龙, 马保离.不确定轮式移动机器人的任意轨迹跟踪[J].控制理论与应用,2014,31(3):285~292.[点击复制] |
| PANG Hai-long, MA Bao-li.Adaptive unified controller of arbitrary trajectory tracking for wheeled mobile robots with unknown parameters[J].Control Theory and Technology,2014,31(3):285~292.[点击复制] |
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| 不确定轮式移动机器人的任意轨迹跟踪 |
| Adaptive unified controller of arbitrary trajectory tracking for wheeled mobile robots with unknown parameters |
| 摘要点击 2703 全文点击 2259 投稿时间：2013-04-28 修订日期：2013-12-30 |
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| DOI编号 10.7641/CTA.2014.13064 |
| 2014,31(3):285-292 |
| 中文关键词 轮式移动机器人 统一控制器 实际稳定 自适应控制 |
| 英文关键词 wheeled mobile robots unified controller practical stabilization adaptive control |
| 基金项目 国家科技重大专项资助项目(2012CB821202); 北京市自然科学基金资助项目(4122043); 国家自然科学基金资助项目(61327807). |
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| 中文摘要 |
| 本文研究参数不确定轮式移动机器人的任意轨迹跟踪统一控制问题. 通过引入坐标变换、输入变换和辅助动态, 将机器人模型转换为合适的形式; 进而运用Lyapunov方法和自适应技术设计了一种自适应统一控制器, 该控制器可以保证跟踪误差全局一致最终有界, 且最终界大小可以通过调整控制器参数而任意调节. 仿真结果验证了控制律的有效性. |
| 英文摘要 |
| We investigate the unified control problem of arbitrary trajectory tracking for wheeled mobile robots (WMRs) with unknown model parameters. After converting the robot model to an advantageous form by introducing coordinate transformation and input transformation as well as auxiliary dynamics, and employing Lyapunov method and adaptive technique, we develop an adaptive unified controller which ensures the tracking errors to be globally uniformly ultimately bounded (GUUB). Furthermore, the ultimate bounds of tracking errors can be made arbitrarily small by adjusting control parameters. The effectiveness of the proposed control law is validated by simulation results. |