| 一种简单的轮式移动机器人控制器设计 |
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| 引用本文： | 赵涛,李俊,周良荣.一种简单的轮式移动机器人控制器设计[J].燕山大学学报,2008,32(4). |
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| 作者姓名： | 赵涛 李俊 周良荣 |
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| 作者单位： | 西北工业大学,航海学院,陕西,西安,710072 |
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| 基金项目： | 教育部跨世纪优秀人才培养计划 |
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| 摘 要： | 研究了轮式移动机器人的轨迹跟踪控制问题.针对传统控制器设计较为复杂的问题,通过构造Lyapunov函数,并根据Lyapunov稳定性定理,推导出了具有全局渐近稳定的跟踪控制器.该方法设计简单并具有直观的稳定性分析.仿真结果证明了该控制器能过保证闭环系统所有状态渐近稳定,达到了轮式移动机器人的轨迹跟踪控制目的.
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| 关 键 词： | 轮式移动机器人 轨迹跟踪控制 Lyapunov函数 |
Simple controller design for wheeled mobile robot |
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| ZHAO tao,LI Jun,ZHOU Liang-rong.Simple controller design for wheeled mobile robot[J].Journal of Yanshan University,2008,32(4). |
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| Authors: | ZHAO tao LI Jun ZHOU Liang-rong |
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| Institution: | ZHAO tao 1,LI Jun 1,ZHOU Liang-rong 1 (1. College of Marine,Northwest Polytechnical University,Xi\'an,Shaanxi 710072,China) |
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| Abstract: | In this paper, the problem of trajectory tracking control of wheeled mobile robot is addressed. By constructing Lyapunov function and analyzing its stability, the controller of wheeled mobile robot is educed. Therefore, the complexity of traditional con-troller of wheeled mobile robot is eliminated. This method is very simple and provided with the academic analysis of system's sta-bility. Simulation results are provided that the controller can guarantee all states of system are all asymptotically stable. Th... |
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| Keywords: | wheeled mobile robot trajectory tracking Lyapunov function |
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