Tracking Control of Mobile Robots: A Case Study in Backstepping

机译：移动机器人跟踪控制：Backstepping案例研究

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摘要

A tracking control methodology via time-varying state feedback based on thebackstepping technique is proposed for both a kinematic and simplified dynamic model of a two-degrees-of-freedom mobile robot. The authors first address the local tracking problem where initial tracking errors are sufficiently small. Then, under additional conditions on the desired velocities, the authors treat the global tracking problem where initial tracking errors are arbitrary. Simulation results are provided to validate and analyze their theoretic results.

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作者
Jiang, Z. P.; Nijmeijer, H.;
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年度 1996
页码 p.1-29
总页数 29
原文格式 PDF
正文语种 eng
中图分类工业技术;
关键词
Robot control; Feedback control; Tracking(Position); Robots; Adaptive control; Robot dynamics; Velocity; Time; Kinematics; Tracking problem; Control systems; Control stability; Parameter identification; Degrees of freedom; Prediction analysis techniques;

机译：机器人控制;反馈控制;跟踪（位置）;机器人;自适应控制;机器人动力学;速度;时间;运动学;跟踪问题;控制系统;控制稳定性;参数识别;自由度;预测分析技术;

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专利

1. TRACKING CONTROL OF MOBILE ROBOTS - A CASE STUDY IN BACKSTEPPING [J] . Jiang ZP., Nijmeijer H. Automatica . 1997,第7期

机译：移动机器人的跟踪控制-以反步法为例
2. Backstepping Trajectory Tracking Based on Fuzzy Sliding Mode Control for Differential Mobile Robots [J] . Wu Xing, Jin Peng, Zou Ting, Journal of Intelligent & Robotic Systems: Theory & Application . 2019,第1期

机译：基于模糊滑动模式控制的差分移动机器人的反向轨迹跟踪
3. Mixed Fuzzy Sliding-Mode Tracking with Backstepping Formation Control for Multi-Nonholonomic Mobile Robots Subject to Uncertainties [J] . Wu Hsiu-Ming, Karkoub Mansour, Hwang Chih-Lyang Journal of Intelligent & Robotic Systems: Theory & Application . 2015,第1期

机译：不确定性多非完整移动机器人的混合模糊滑模跟踪与反步形成控制
4. Trajectory Tracking Control of Wheeled Mobile Robots Using Backstepping [C] . Sunxin Wang, Xuefeng Bao, Shaohua Zhang, International conference on intelligent robotics and applications . 2019

机译：基于Backstepping的轮式机器人轨迹跟踪控制。
5. Path following control of wheeled mobile robots combining piecewise-affine, linear parameter-varying, and backstepping theories. [D] . LeBel, Stefan. 2007

机译：结合分段仿射，线性参数更改和反推理论的轮式移动机器人的路径跟踪控制。
6. Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect [O] . Noriyasu Ando, Shuhei Emoto, Ryohei Kanzaki 2016

机译：昆虫控制的机器人：评估昆虫气味追踪能力的移动机器人平台
7. Output tracking control of mobile robots based on adaptive backstepping and high order sliding modes [O] . Li CK, Chao HM, Hu YM, 2002

机译：基于自适应反步和高阶滑模的移动机器人输出跟踪控制

Tracking Control of Mobile Robots: A Case Study in Backstepping

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