Adaptive Tracking Control of Wheeled Mobile Robots

Autor:	Guang Ping Zeng, Min Zuo, Xu Yan Tu
Rok vydání:	2011
Předmět:	Scheme (programming language) Adaptive control Computer simulation Control theory Computer science Control (management) Control engineering Mobile robot General Medicine Track (rail transport) computer computer.programming_language Robot control
Zdroj:	Applied Mechanics and Materials. :1195-1199
ISSN:	1662-7482
DOI:	10.4028/www.scientific.net/amm.55-57.1195
Popis:	Trajectory-tracking problem of wheeled mobile robots is investigated. Adaptive control scheme utilized has only one control signal. The control input gives out the velocity increments which will be utilized to adjust the pose of WMR so as to track the desired trajectories. The controller adopted is simple to realize and easy to tune the parameters, which is benefit to real applications. Numerical simulation results show that the control scheme is valid.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::0d78e8d94405ccae49abf15e68c59b21 https://doi.org/10.4028/www.scientific.net/amm.55-57.1195 Zobrazit plný text záznamu