An adaptive nonlinear trajectory tracking design for mobile robots and it's practical implementation

Yung Hsiang Chen, Tzuu-Hseng S. Li, Yung-Yu Chen

研究成果: Conference contribution

摘要

An adaptive nonlinear trajectory tracking design for mobile robot and its practical implementation are presented in this paper. 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 system of the nonholonomic mobile robot, the adaptive H2 trajectory tracking problems can be reduced to solving one nonlinear time varying Riccati-like equations. Furthermore, one closed-form solution to this nonlinear time varying Riccati-like equation can be obtained with very simple forms for the preceding control design. Finally, there are two practical testing conditions: circular and S type reference trajectories are used for performance verification.

原文English
主出版物標題Innovation for Applied Science and Technology
頁面1744-1748
頁數5
DOIs
出版狀態Published - 2013 二月 20
事件2nd International Conference on Engineering and Technology Innovation 2012, ICETI 2012 - Kaohsiung, Taiwan
持續時間: 2012 十一月 22012 十一月 6

出版系列

名字Applied Mechanics and Materials
284-287
ISSN(列印)1660-9336
ISSN(電子)1662-7482

Other

Other2nd International Conference on Engineering and Technology Innovation 2012, ICETI 2012
國家Taiwan
城市Kaohsiung
期間12-11-0212-11-06

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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