| 基于Backstepping方法的轮式移动机器人轨迹跟踪研究 |
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| 引用本文： | 刘佳,李春书.基于Backstepping方法的轮式移动机器人轨迹跟踪研究[J].机电工程技术,2011,40(1):79-82. |
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| 作者姓名： | 刘佳 李春书 |
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| 作者单位： | 1. 邢台职业技术学院机电系,河北邢台,054000
2. 河北工业大学机械工程学院,天津,300130 |
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| 摘 要： | 根据机器人的运动学模型,对具有非完整特性的移动机器人轨迹跟踪控制进行了研究.采用基于积分backstepping时变状态反馈方法,引入一种新的虚拟反馈量,设计机器人轨迹跟踪控制算法,并且利用Lyapunov方法证明系统的全局稳定性.仿真结果证明了该方法的有效性.
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| 关 键 词： | 移动机器人 backstepping 李雅普诺夫函数 轨迹跟踪 |
Research on Trajectory Tracking Control on Wheeled Mobile Robot Based on Backstepping |
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| LIU Jia,LI Chun-shu.Research on Trajectory Tracking Control on Wheeled Mobile Robot Based on Backstepping[J].Mechanical & Electrical Engineering Technology,2011,40(1):79-82. |
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| Authors: | LIU Jia LI Chun-shu |
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| Affiliation: | LIU Jia',LI Chun-shu2(I.Xingtai Polytecnic College,Xingtai054000,China,2.Hebei University of Technology.Tianjin 300130,China) |
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| Abstract: | Based on the kinematical model of the mobile robot,a global asymptotically stable track in controller is designed using integral backstepping and time varying method with a new virtual feedback parameter.Meanwhile,the Lyapunov theory is used to verify the stability of the controller.Considering the dynamics of the mobile robots,the limited control strategy is introduced to provide smooth motion of the robot.The simulation results show that the controller is capable of quick and precise tracking and global s... |
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| Keywords: | mobile robots backstepping Lyapunov trajectory tracking |
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