期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 64, 期 4, 页码 3359-3368出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2016.2613839
关键词
Disturbance observer; prescribed tracking performance; tracking control; wheeled mobile robot
资金
- National Natural Science Foundation of China [61573184]
- Jiangsu Natural Science Foundation of China [SBK20130033]
- Program for New Century Excellent Talents in the University of China [NCET-11-0830]
In this paper, a robust tracking control scheme is proposed for wheeled mobile robots with skidding, slipping, and input disturbance. Considering the existing skidding and slipping, a desired disturbance-observer-based virtual velocity control law is first designed. Then, the robust tracking control scheme is developed by considering the prescribed tracking performance requirement and using the disturbance observer. In the tracking control scheme design, the prescribed performance function method is employed to guarantee the desired tracking performance. To handle the skidding, slipping, and input disturbance, the disturbance observer is developed in the control scheme design. Experiment results demonstrate the effectiveness of the proposed tracking control scheme for wheeled mobile robots with skidding, slipping, and input disturbance.
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