Trajectory Tracking Control of Wheeled Mobile Robots via Fuzzy Approach
The trajectory tracking control of wheeled mobile robots is considered.The kinematics and dynamics model of a wheeled mobile robot is derived by using the Lagranges equations.Since the values of parameters of the robot are difficult to determine accurately,the physical parameters of the robot were assumed to be unknown except the wheel radius and the distance between the two driving wheels.An integrated controller based on the dynamics model of the wheeled mobile robot with parameter uncertainty is proposed by using the approximation capacity of the fuzzy system.Simulation results show the effectiveness of the proposed method.
Wheeled mobile robot trajectory tracking fuzzy system model uncertainty
YU Hao TANG Gong-You SU Hao TIAN Chun-Peng ZHANG Jian
College of Information Science and Engineering,Ocean University of China,Qingdao,China,266100
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
8444-8449
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）