| 引用本文: | 曹政才,赵应涛,吴启迪.基于自适应和神经动力学的轮式移动机器人路径跟踪控制[J].控制理论与应用,2010,27(12):1717~1723.[点击复制] |
| CAO Zheng-cai,ZHAO Ying-tao,WU Qi-di.Path tracking control for a wheeled mobile robot by integrating neural dynamics with adaptive approach[J].Control Theory and Technology,2010,27(12):1717~1723.[点击复制] |
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| 基于自适应和神经动力学的轮式移动机器人路径跟踪控制 |
| Path tracking control for a wheeled mobile robot by integrating neural dynamics with adaptive approach |
| 摘要点击 1834 全文点击 3303 投稿时间：2010-05-06 修订日期：2010-07-15 |
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| DOI编号 10.7641/j.issn.1000-8152.2010.12.PCTA100500 |
| 2010,27(12):1717-1723 |
| 中文关键词 轮式移动机器人 路径跟踪 模型参考自适应 神经动力学 |
| 英文关键词 wheeled mobile robot path tracking model reference adaptive neural dynamics |
| 基金项目 Supported by State Key Laboratory of Robotics and System(SKLRS–2010–MS–14); Innovative Experimental Project of Beijing University of Chemical Technology (091001021). |
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| 中文摘要 |
| 本文提出一种自适应和神经动力学相结合的轮式移动机器人路径跟踪控制方法. 首先, 设计运动学控制器用来获得机器人期望速度; 其次, 考虑机器人动力学模型参数的不确定性, 利用模型参考自适应方法来设计动力学控制规律, 使得机器人实际速度渐近逼近期望值; 再次, 为克服速度和力矩的跳变, 加入神经动力学模型对控制器进行优化, 并且通过Lypunov理论来证明整个控制系统的稳定性; 最后仿真结果表明该控制方法的有效性. |
| 英文摘要 |
| A path tracking control method for a wheeled mobile robot is presented, which combines adaptive approach and neural dynamics to force the robot to track a predefined path. A kinematic controller is introduced to the mobile robot; the control law of which is developed by the model reference adaptive method for ensuring the robot velocity asymptotically approaching to the desired velocity in uncertain system dynamics. To handle the jump-problem between speed and torque, a neural dynamic model is integrated with the above mentioned controls scheme; the stability of the combined system is analyzed by using Lyapunov theory. Simulation results illustrate the effectiveness of the proposed control scheme. |