Sliding Mode Path Tracking Control for Spraying Mobile Robots Based on Weighed Integral Gain Reaching Law

摘要：

　　For the spraying mobile robot,in order to solve the bad effect of the complex unstructured environment of intensive planting,ground obstacles and spatial disorders coexisting on the path tracking control precision,a sliding mode control method is proposed based on weighted integral gain reaching law to reduce chattering and to improve tracking performance of the system.Moreover,the asymptotical stability of the closed loop system is proved using Lyapunov function.Finally simulation results illustrate the validity and feasibility of the proposed control method.

关键词： spraying mobile robot path tracking sliding mode control weighed integral gain reaching law

作者: Niu Xuemei Gao Guoqin Zhou Haiyan

作者单位: School of Electrical & Information Engineering,Jiangsu University,Zhen Jiang 212013,China

会议类型: 国际会议

会议名称: 2012 2nd International conference on Machinery Electronics and Control Engineering (2012年第二届国际机械电子与控制工程会议(ICMECE 2012))

会议地点: 济南

会议语种:英文

页码: 932-936

在线出版日期: 2012-12-29（万方平台首次上网日期，不代表论文的发表时间）