Trajectory tracking control for wheeled mobile robots based on a piecewise fuzzy Lyapunov function

被引：0

作者：

Zhang, Jia-Yuan ^{[1
]}

Li, Hong-Bo ^{[2
]}

Liu, He-Ping ^{[1
]}

机构：

[1] School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing

[2] Department of Computer Science & Technology, Tsinghua University, Beijing

来源：

Gongcheng Kexue Xuebao/Chinese Journal of Engineering | 2015年 / 37卷 / 07期

关键词：

Fuzzy control; Lyapunov function; Mobile robots; Tracking; Trajectory;

D O I：

10.13374/j.issn2095-9389.2015.07.019

中图分类号：

学科分类号：

摘要：

A trajectory tracking problem is investigated for wheeled mobile robots with control input constraints and external disturbances. Firstly, the trajectory tracking posture error model is transformed into a T-S fuzzy model. Under this framework and parallel distributed compensation, a design method of constrained H∞ controllers is developed via the piecewise fuzzy Lyapunov function approach, and the stability conditions of the closed-loop system are also derived. Finally, simulation results are given to illustrate the effectiveness of the proposed method. ©, 2015, The Editorial Board of CHINESE JOURNAL OF ENGINEERING. All right reserved.

引用

页码：955 / 964

页数：9

共 27 条

[1]

Chen C., Li T.S., Yeh Y., Et al., Design and implementation of an adaptive sliding-mode dynamic controller for wheeled mobile robots, Mechatronics, 19, 2, (2009)

[2]

Cao Z.C., Zhao Y.T., Fu Y.L., Trajectory tracking control approach of a car-like mobile robot, Acta Electron Sin, 40, 4, (2012)

[3]

Chwa D., Tracking control of differential-drive wheeled mobile robots using a backstepping-like feedback linearization, IEEE Trans Syst, 40, 6, (2010)

[4]

Kumar U., Sukavanam N., Backstepping based trajectory tracking control of a four wheeled mobile robot, Int J Adv Rob Syst, 5, 4, (2008)

[5]

Martins F.N., Celeste W.C., Carelli R., Et al., An adaptive dynamic controller for autonomous mobile robot trajectory tracking, Control Eng Pract, 16, 11, (2008)

[6]

Canigur E., Ozkan M., Model reference adaptive control of a nonholonomic wheeled mobile robot for trajectory tracking, Proceedings of INISTA 2012-International Symposium on Innovations in Intelligent Systems and Applications, (2012)

[7]

Tabibian B., Shojaei K., Shahri A.M., Et al., Adaptive trajectory tracking control of a differential drive wheeled mobile robot, Robotica, 29, 3, (2011)

[8]

Hoang T.T., Hiep D.T., Duong B.G., Et al., Trajectory tracking control of the nonholonomic mobile robot using torque method and neural network, Proceedings of 2013 IEEE 8th Conference on Industrial Electronics and Applications, (2013)

[9]

Fengchun Z., Ju D., An optimized fuzzy trajectory tracking control of mobile robots, Proceedings of Chinese Control and Decision Conference 2008, (2008)

[10]

Park B.S., Yoo S.J., Park J.B., Et al., Adaptive neural sliding mode control of nonholonomic wheeled mobile robots with model uncertainty, IEEE Trans Control Syst Technol, 17, 1, (2009)

← 1 2 3 →