| 基于动力学系统的非完整移动机器人的跟踪控制 |
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| 引用本文： | 肖本贤,张松灿,刘海霞,赵明阳,王群京.基于动力学系统的非完整移动机器人的跟踪控制[J].系统仿真学报,2006,18(5):1263-1266. |
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| 作者姓名： | 肖本贤 张松灿 刘海霞 赵明阳 王群京 |
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| 作者单位： | 合肥工业大学自动化研究所,合肥,230009 |
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| 摘 要： | 为解决具有两个驱动轮的受非完整约束移动机器人的轨迹跟踪问题,文章从机器人的动力学和运动学模型出发,设计出一种结构简单的控制器,该控制器利用单神经元网络的自学习和自适应能力,来克服未建模的系统扰动,并用Lyapunov函数对所设计的控制器进行了稳定性分析。最后仿真结果验证了所设计的控制器的有效性。
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| 关 键 词： | 移动机器人 非完整约束 Lyapunov函数 轨迹跟踪 |
| 文章编号： | 1004-731X（2006）05-1263-04 |
| 收稿时间： | 2005-01-17 |
| 修稿时间： | 2005-09-05 |
Tracking Control of Nonholonomic Mobile Robots Based-on Dynamics Model |
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| XIAO Ben-xian,ZHANG Song-can,LIU Hai-xia,ZHAO Ming-yang,WANG Qun-jing.Tracking Control of Nonholonomic Mobile Robots Based-on Dynamics Model[J].Journal of System Simulation,2006,18(5):1263-1266. |
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| Authors: | XIAO Ben-xian ZHANG Song-can LIU Hai-xia ZHAO Ming-yang WANG Qun-jing |
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| Institution: | Institute of Industrial Automation, Hefci University of Technology, Hefei 230009, China |
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| Abstract: | To solve the problem of path tracking for nonholonomic mobile robots with two drivable wheels,a new simple controller was designed based on the dynamic and kinematic models of mobile robot.Also the neural network was used to deal with unmodeled disturbances,and the stability of the controller was shown through the Lyapunov function.Finally,the effectiveness of the controller is demonstrated by simulation results. |
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| Keywords: | mobile robots nonholonomic system Lyapunov function path tracking |
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