Tracking control of mobile robots: A case study in backstepping

被引：658

作者：

Jiang, ZP ^{[1
]}

Nijmeijer, H ^{[1
]}

机构：

[1] UNIV TWENTE, DEPT APPL MATH, NL-7500 AE ENSCHEDE, NETHERLANDS

来源：

AUTOMATICA | 1997年 / 33卷 / 07期

关键词：

mobile robots; tracking; time-varying feedback; velocity control; backstepping;

D O I：

10.1016/S0005-1098(97)00055-1

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A tracking control methodology via time-varying state feedback based on the backstepping technique is proposed for both a kinematic and simplified dynamic model of a two-degrees-of-freedom mobile robot. We first address the local tracking problem where initial tracking errors are sufficiently small. Then, under additional conditions on the desired velocities, we treat the global tracking problem where initial tracking errors are arbitrary. Simulation results are provided to validate and analyse our theoretical results. (C) 1997 Elsevier Science Ltd.

引用

页码：1393 / 1399

页数：7

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