摘要
针对轮式移动机器人的输出跟踪问题 ,提出一种动态滑模控制方法。首先给出机器人的动力学简化模型 ,然后将其分解成两个低阶子系统 ,并给出其输出跟踪的动态滑模控制器设计方法。
A dynamical sliding mode control approach is proposed for the output tracking of wheeled mobile robots. A reduced dynamic model of mobile robots is developed. Applying diffeomorphism and nonlinear state feedback transformation to the reduced model, the system is then decomposed into two lower dimensional linear and nonlinear subsystems. The design of the dynamical sliding mode controller is also addressed for the output tracking problem of the mobile robot. Numerical simulations show that the proposed strategy can considerably weaken the chattering of sliding mode control systems.
出处
《控制与决策》
EI
CSCD
北大核心
2001年第5期565-568,共4页
Control and Decision
基金
国家自然科学基金项目 (69974 0 15)
国家 863计划智能机器人主题项目 (980 5-19)
广东省自然科学基金项目(990 583 )
关键词
轮式移动机器人
动态滑模控制
运动学
动力学
wheeled mobile robots
motor dynamics
output tracking
dynamical sliding mode control
chattering reduction
