移动机器人轨迹跟踪控制研究及其MATLAB仿真
摘要
文章根据轮式移动机器人具有非完整约束的特点,建立了全局坐标系下用直角坐标表示的非完整轮式移动机器人的位姿模型,基于位姿模型基础上对轮式移动机器人的运动学模型进行研究,提出了一种非线性状态反馈轨迹跟踪控制律,并设计移动机器人跟踪轨迹控制器,最后通过Matlab/Simulink仿真实验模块实现控制算法。
引文
[1]宋立博,李劲松.轮式移动机器人嵌入式自适应控制器设计与仿真[J].控制理论与应用,2012,29(9).
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[5]DEMIRLI K,KHOSHNEJAD M.Autonomous parallel parking of a car-like mobile robot by a neurofuzzy sensor-based controller[J].Fuzzy Sets and Systems,2009,160(19).
[6]李昆鹏,土孙安,郭了龙.一种移动机器人白适应轨迹跟踪控制算法研究[J].系统仿真学报,2008,20(10).
[7]李运华,何刘宇,杨丽曼.非完整约束多轴驱动车辆的路径跟踪控制[J].机械工程学报,2014,50(5).
[8]于浩,宿浩,杨雪,田春鹏,唐攻友.基于引导角的轮式移动机器人轨迹跟踪控制[J].控制与决策,2015,4(30).
[2]LIU H,WU Y X.Robust dynamical sliding mode control of a class of nonholonomic systems[A].Proceedings of International Conference on Machine Learning and Cybernetics.Dalian:IEEE[C].2006.
[3]CHEN C Y,LI T S,YEH Y C.EP-based kinematic control and adaptive fuzzy sliding-mode dynamic control for wheeled mobile robots[J].Information Sciences,2009,179(2).
[4]TZAFESTAS S G,DELIPARASCHOS K M,MOUSTRIS G P.Fuzzy logic path tracking control for autonomous non-h olonomic mobile robots:design of system on a chip[J].Robotics and Autonomous Systems,2010,58(8).
[5]DEMIRLI K,KHOSHNEJAD M.Autonomous parallel parking of a car-like mobile robot by a neurofuzzy sensor-based controller[J].Fuzzy Sets and Systems,2009,160(19).
[6]李昆鹏,土孙安,郭了龙.一种移动机器人白适应轨迹跟踪控制算法研究[J].系统仿真学报,2008,20(10).
[7]李运华,何刘宇,杨丽曼.非完整约束多轴驱动车辆的路径跟踪控制[J].机械工程学报,2014,50(5).
[8]于浩,宿浩,杨雪,田春鹏,唐攻友.基于引导角的轮式移动机器人轨迹跟踪控制[J].控制与决策,2015,4(30).