A practical trajectory tracking approach for autonomous mobile robots: Nonlinear adaptive H2 design

Yung Hsiang Chen, Tzuu Hseng S. Li, Yung Yue Chen

研究成果: Article

3 引文 斯高帕斯(Scopus)

摘要

A nonlinear adaptive trajectory tracking design for autonomous mobile robot and its practical implementation are presented in this paper. This approach can be applied to generate trajectory tracking control commands for autonomous mobile robot tracking predefined trajectories. The design objective is to specify one nonlinear controller with a parameter adaptive law that satisfies the adaptive H2 optimal performance. In general, it is hard to obtain the closed-form solution from this nonlinear trajectory tracking problem. Fortunately, based on the property of the trajectory tracking error dynamic system of the autonomous mobile robot, one closed-form solution to this problem can be obtained with a very simple form for the preceding control design.

原文English
頁(從 - 到)385-394
頁數10
期刊Transactions of the Canadian Society for Mechanical Engineering
37
發行號3
出版狀態Published - 2013 十二月 1

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering

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