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Adaptive Trajectory Tracking Control for a Nonholonomic Mobile Robot
nonholonomic mobile robot trajectory tracking model reference adaptive
2011/8/4
As one of the core issues of the mobile robot motion control, trajectory tracking has received extensive attention in recent years. At present, the solution of the problem only takes kinematic or dyna...
Adaptive Trajectory Tracking Control for a Nonholonomic Mobile Robot
nonholonomic mobile robot trajectory tracking model reference adaptive
2011/8/4
As one of the core issues of the mobile robot motion control, trajectory tracking has received extensive attention in recent years. At present, the solution of the problem only takes kinematic or dyna...
基于Kalman滤波和纯追踪模型的农业机械导航控制（Trajectory Tracking Control Method Based on Kalman Filter and Pure Pursuit Model for Agricultural Vehicle）
DGPS Kalman滤波 纯追踪模型 导航
2009/11/3
以KUBOTA SPU-68水田插秧机为试验平台，以RTK-DGPS为主要导航方式，辅以航向姿态参考系统AHRS500GA-227，研究提高农业机械导航控制精度的方法。在重点对GPS倾斜误差校正的基础上，设计了Kalman滤波器对定位数据进行平滑处理，同时实现磁航向传感器偏移误差的在线辨识与航向校正。采用纯追踪模型实现农业机械直线跟踪控制，基于ITAE优化准则，仿真研究了最佳前视距离的确定方法。试...
Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators
Intelligent Hybrid Control Strategy Trajectory Tracking Robot Manipulators
2009/9/7
We address the problem of robust tracking control using a PD-plus-feedforward controller and an intelligent adaptive robust compensator for a rigid robotic manipulator with uncertain dynamics and exte...
SLIDING MODE CONTROL FOR TRAJECTORY TRACKING OF AN INTELLIGENT WHEELCHAIR
sliding-mode control trajectory-tracking mode intelligent wheelchair mobile robots
2010/1/11
This paper deal with a robust sliding-mode trajectory tracking controller, for
nonholonomic wheeled mobile robots and its experimental evaluation by the
implementation in an intelligent wheelchair (...
ROBUST DISCRETE-TIME ADAPTIVE SLIDING MODE WMR TRAJECTORY TRACKING AND PARAMETER IDENTIFICATION
discrete-time robust adaptive sliding mode controller wheeled mobile robot
2010/1/12
In this paper a discrete-time adaptive sliding mode controller for three wheels mobile robot (WMR) is presented. The dynamical model with time-varying mass has been taken into account. The sliding-mod...