Earticle

초록

영어

This paper addresses the problem of adaptive trajectory tracking control for the wheeled mobile robot (WMR) based on cascade-design method. The condition is considered that there is a distance between the mass center of the robot and the geometrical center. The tracking error system is divided into two subsystems: the position error system and the orientation error system. In order to deal with the circumstance with the unknown parameters, an adaptive tracking control law is proposed. Simulation results illustrate the effectiveness of the proposed control methods.

목차

Abstract
 1. Introduction
 2. Preliminaries and Problem Formulation
  2.1. Preliminaries
  2.2. Problem Formulation
 3. Adaptive Trajectory Tracking Controller Design
  3.1. Kinematic Controller
  3.2. Dynamic Controller
  3.3. Adaptive Controller
 4. Simulation Results
  4.1. A Simulation for the Target Point behind the Reference Point
  4.2. A Simulation for the Target Point before the Reference Point
 5. Conclusions
 References

키워드

저자

• Xue Yang [ College of Science and Information, Qingdao Agricultural University, Qingdao 266109, China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of u- and e- Service, Science and Technology

• 간기

  격월간

• pISSN

  2005-4246

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605