원문정보
보안공학연구지원센터(IJUNESST)
International Journal of u- and e- Service, Science and Technology
Vol.8 No.12
2015.12
pp.265-276
피인용수 : 0건 (자료제공 : 네이버학술정보)
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
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
저자정보
참고문헌
자료제공 : 네이버학술정보