Trajectory Tracking Research of Wheeled Mobile Robots Based on Backstepping
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.
wheeled mobile robots trajectory tracking backstepping control law
Shi-Gang Cui Guang-Ming Zeng Li Yang Yang Yu
Tianjin Key Laboratory of Information Sensing & Intelligent ControlSchool of Automation and Electrical Engineering, Tianjin University of Technology and Education, Tianjin, China
国际会议
天津
英文
510-514
2012-10-16（万方平台首次上网日期，不代表论文的发表时间）