Adaptive fuzzy trajectory-tracking control of uncertain nonholonomic mobile robots’
Adaptive fuzzy trajectory-tracking control of uncertain nonholonomic mobile robots’
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DOI：
10.1109/indin.2008.4618148
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发表时间：
2008-07
期刊：
影响因子：
--
通讯作者：
Shuanghe Yu;Shuang Liu;He Xu
中科院分区：
文献类型：
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作者：
Shuanghe Yu;Shuang Liu;He Xu
采用自适应模糊控制策略解决了具有两个驱动轮的非完整移动的机器人的轨迹跟踪问题。首先针对机器人的运动学模型设计了运动学控制器，然后在此运动学控制器的基础上，针对带有扰动的不确定动力学模型设计了自适应模糊控制器。利用李亚普诺夫理论证明了闭环系统的稳定性和跟踪误差的有界性。通过比较，仿真结果验证了其更上级的性能。
The trajectory-tracking problem of the nonholonomic mobile robots with two drivable wheels is solved by an adaptive fuzzy control strategy in this paper. A kinematic controller is firstly presented for the kinematic model, and then, an adaptive fuzzy controller is designed for the uncertain dynamic model with disturbance based on the kinematic controller. The stability of the closed-loop system and the boundness of tracking errors are proved using Lyapunov theory. The simulation results validate its more superior performance through comparisons.