Wheeled mobile robot design with robustness properties

Yung Yue Chen, Yung Hsiang Chen, Chiung Yau Huang

研究成果: Article同行評審

5 引文 斯高帕斯(Scopus)

摘要

A trajectory tracking design for wheeled mobile robots is presented in this article. The design objective is to develop one nonlinear robust control law for the trajectory tracking problem of wheeled mobile robots in the presence of modeling uncertainties. The main contribution of this investigation is as follows. Under the effects of modeling uncertainties, an effective control design which can quickly converge tracking errors between the controlled wheeled mobile robot and the desired trajectory is derived mathematically. Generally, it is difficult to develop a nonlinear robust control design for the trajectory tracking problem of wheeled mobile robots due to the complexity and nonlinearity of the wheeled mobile robots’ dynamics. Fortunately, based on a series analysis for the tracking error dynamics of the controlled wheeled mobile robot, one promising solution is obtained. For verifying the trajectory tracking performance of this proposed method, two scenarios are utilized in the simulations and the practical tests.

原文English
期刊Advances in Mechanical Engineering
10
發行號1
DOIs
出版狀態Published - 2018 一月 1

All Science Journal Classification (ASJC) codes

  • 機械工業

指紋

深入研究「Wheeled mobile robot design with robustness properties」主題。共同形成了獨特的指紋。

引用此