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Trajectory Tracking Control of Small Outdoor Intelligent Mobile Robots(PDF)

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2003年01期
Page:
56-59
Research Field:
Publishing date:

Info

Title:
Trajectory Tracking Control of Small Outdoor Intelligent Mobile Robots
Author(s):
ZuLi WangHuakun FanYuanxun
School of Mechanical Engineering,NUST,Nanjing 210094
Keywords:
mobile robot s dynamics trajectory tracking backstepping method
PACS:
TP242
DOI:
-
Abstract:
The paper studied the t rajectory tracking control of small outdoor intelligent mobile robots, aiming at their applicat ion requirements. According to the backstepping idea of design, a stable and reliable cont rol method was designed based on dynamics model. The control method is global convergent and makes mobile robots robust while working in the unknown environment. Compared w ith the control method based on kinematics model, it’ s more applicable to engineering. Finally, the experiment results validated the effects of the method. Small outdoor intelligent mobile robots can use the control method as practical tool for trajectory tracking.

References:

1 Krstic M, Kanellakopoulos I, Ko kotovic P V. Nonlinear and adaptive control desig n [M] . New Yor k: John Wiley, 1995.
2 Samson C, Ai-t Abderrahim K. Feedback control of a nonholonomic wheeled cart in Cartesian space[ A] . In: Proc IEEE Int Conf Robotics and Automation[ C] . Sacramento: California, 1991. 1 136~ 1 141.

Memo

Memo:
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Last Update: 2013-03-17