P and Feedforward Control for Mobile Robot

Autor:	Wang Wen-lan, Xiong-huai Bai
Rok vydání:	2022
Předmět:	History Computer Science Applications Education
Zdroj:	Journal of Physics: Conference Series. 2404:012053
ISSN:	1742-6596 1742-6588
Popis:	Wheeled mobile robots have a wide range of applications in aerospace, military, industry, medical services, and even entertainment. It is simple in design and easy in fabrication and is widely studied by scholars at home and abroad. However, the path-tracking problem of wheeled mobile robots has also been a key problem inhibiting their development. In this design, the kinematic model of the robot is constructed by using P and feedforward, and a double closed-loop P and feedforward control system is designed. After a trial-and-error method, the appropriate control parameters are obtained. The simul ink function in MATLAB is used to simulate and verify the path-following ability of the method.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::e5691da7a16eaf4d224c03cfb91b7284 https://doi.org/10.1088/1742-6596/2404/1/012053 Zobrazit plný text záznamu