Trajectory Tracking Research of Wheeled Mobile Robots Based on Backstepping

机译：基于Backstepping的轮式机器人轨迹跟踪研究。

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Because of the wheeled mobile robots are nonholonomic and limited,its trajectory tracking has become a kind of challenging control problems.This article is aiming at the local stability of the control law design based on the linear idea previously,designing time-varying feedback control law by constructing a simple intermediate virtual feedback variables combined with Lyapunov direct method based on integral Backstepping idea and proving its control effect can achieve globally asymptotically stable.The simulation results verify the correctness and validity of this method.

机译：由于轮式移动机器人的非完整性和局限性，其轨迹跟踪已成为一种具有挑战性的控制问题。本文旨在基于先前的线性思想，针对时变反馈控制律设计控制律的局部稳定性。通过基于积分Backstepping思想构造一个简单的中间虚拟反馈变量并与Lyapunov直接方法相结合，证明其控制效果可以实现全局渐近稳定。仿真结果验证了该方法的正确性和有效性。

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来源
《International conference on mechatronics technology》|2012年|510-514|共5页
会议地点 Tianjin(CN)
作者
Shi-Gang Cui; Guang-Ming Zeng; Li Yang; Yang Yu;
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作者单位

Tianjin Key Laboratory of Information Sensing Intelligent ControlSchool of Automation and Electrical Engineering, Tianjin University of Technology and Education, Tianjin, China;

Tianjin Key Laboratory of Information Sensing Intelligent ControlSchool of Automation and Electrical Engineering, Tianjin University of Technology and Education, Tianjin, China;

Tianjin Key Laboratory of Information Sensing Intelligent ControlSchool of Automation and Electrical Engineering, Tianjin University of Technology and Education, Tianjin, China;

Tianjin Key Laboratory of Information Sensing Intelligent ControlSchool of Automation and Electrical Engineering, Tianjin University of Technology and Education, Tianjin, China;

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会议组织
原文格式 PDF
正文语种 eng
中图分类 TH15;
关键词
wheeled mobile robots; trajectory tracking; backstepping; control law;

机译：轮式移动机器人轨迹跟踪反推控制律;

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专利

1. Backstepping based trajectory tracking control of a four wheeled mobile robot [J] . Umesh Kumar, Nagarajan Sukavanam International Journal of Advanced Robotic Systems . 2008,第4期

机译：基于后推的四轮移动机器人轨迹跟踪控制
2. Backstepping Based Trajectory Tracking Control of a Four Wheeled Mobile Robot [J] . Umesh Kumar, Nagarajan Sukavanam International Journal of Advanced Robotic Systems . 2008,第4期

机译：基于Backstepping的四轮移动机器人的轨迹跟踪控制。
3. An Adaptive Backstepping Trajectory Tracking Control of a Tractor Trailer Wheeled Mobile Robot [J] . Nguyen Thanh Binh, Nguyen Anh Tung, Dao Phuong Nam, International Journal of Control, Automation, and Systems . 2019,第2期

机译：拖拉机拖车轮式移动机器人的自适应Backstepping轨迹跟踪控制
4. Trajectory Tracking Research of Wheeled Mobile Robots Based on Backstepping [C] . Shi-Gang Cui, Guang-Ming Zeng, Li Yang, International conference on mechatronics technology . 2012

机译：基于BackStepping的轮式移动机器人轨迹跟踪研究
5. Generic dynamic modelling and model-based trajectory tracking control of wheeled mobile robots (WMRs). [D] . Thanjavur, Karunananth G. 1997

机译：轮式移动机器人（WMR）的通用动态建模和基于模型的轨迹跟踪控制。
6. A Sensor Fusion Based Nonholonomic Wheeled Mobile Robot for Tracking Control [O] . Shun-Hung Tsai, Li-Hsiang Kao, Hung-Yi Lin, 2020

机译：基于传感器融合的非全本轮式移动机器人用于跟踪控制
7. Backstepping Based Trajectory Tracking Control of a Four Wheeled Mobile Robot [O] . Umesh Kumar, Nagarajan Sukavanam 2008

机译：基于Backstepping的四轮移动机器人轨迹跟踪控制
8. Tracking Control of Mobile Robots: A Case Study in Backstepping [R] . Jiang, Z. P., Nijmeijer, H. 1996

机译：移动机器人跟踪控制：Backstepping案例研究

Trajectory Tracking Research of Wheeled Mobile Robots Based on Backstepping

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