Deschide documentul
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Informaţii generale |
| Autor |
Cui, Mingyue; Sun, Dihua; Liu, Weining; Zhao, Min; Liao, Xiaoyong |
| Publicat |
InTech Open Access Publisher, 2012
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| Detaliază |
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| Abstract |
An adaptive control approach is proposed for
trajectory tracking and obstacle avoidance for mobile
robots with consideration given to unknown sliding. A
kinematic model of mobile robots is established in this
paper, in which both longitudinal and lateral sliding are
considered and processed as three time‐varying
parameters. A sliding model observer is introduced to
estimate the sliding parameters online. A stable tracking
control law for this nonholonomic system is proposed to
compensate the unknown sliding effect. From Lyapunovstability
analysis, it is proved, regardless of unknown
sliding, that tracking errors of the controlled closed‐loop
system are asymptotically stable, the tracking errors
converge to zero outside the obstacle detection region
and obstacle avoidance is guaranteed inside the obstacle
detection region. The efficiency and robustness of the
proposed control system are verified by simulation
results. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicat: 2004
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