具有未知参数的机器人-摄像机系统的自适应动态反馈跟踪控制
The tracking problem of nonholonomic mobile robots with uncertainties is investigated in this paper. An uncertain model of the nonholonomic kinematic system is presented based on the visual feedback and the state and input transformations for a kind of mobile robots in chained form with uncertaintie...
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| Published in | 自动化学报 Vol. 42; no. 10; pp. 1595 - 1604 |
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| Main Author | |
| Format | Journal Article |
| Language | Chinese |
| Published |
2016
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0254-4156 1874-1029 |
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| Summary: | The tracking problem of nonholonomic mobile robots with uncertainties is investigated in this paper. An uncertain model of the nonholonomic kinematic system is presented based on the visual feedback and the state and input transformations for a kind of mobile robots in chained form with uncertainties. Two transformations are exploited based on the idea of backstepping and the structure of tracking error system. Then, both an adaptive control law and a dynamic feedback robust controller are designed to track the desired trajectory by using Lyapunov direct method and the extended Barbalat Lemma. The asymptotic convergence of a closed-loop error system is proved rigorously. Finally, simulation results demonstrate the effectiveness of the proposed strategies. |
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| Bibliography: | Adaptive control; chained system; feedback; mobile robot; tracking control LIANG Zhen-Ying;WANG Chao-Li;CHEN Hua;LI Cai-Hong;School of Science, Shandong University of Technology;Optical-Electrical and Computer Engineering Department, University of Shanghai for Science and Technology;Mathematics and Physics Department, Hohai University, Changzhou Campus;School of Computer Science and Technology, Shandong University of Technology 11-2109/TP The tracking problem of nonholonomic mobile robots with uncertainties is investigated in this paper. An uncertain model of the nonholonomic kinematic system is presented based on the visual feedback and the state and input transformations for a kind of mobile robots in chained form with uncertainties. Two transformations are exploited based on the idea of backstepping and the structure of tracking error system. Then, both an adaptive control law and a dynamic feedback robust controller are designed to track the desired trajectory by using Lyapunov direct method and the extended |
| ISSN: | 0254-4156 1874-1029 |