LQR Controller for Car-like Robot

被引：0
|
作者：
Lin Fengda [1 ]
Lin Zijian [1 ]
Qiu Xiaohong [2 ]
机构：
[1] South China Univ Technol, Sch Automat Sci & Engn, Guangzhou 510640, Guangdong, Peoples R China
[2] South China Univ Technol, Inst Comp Applicat Engn, Guangzhou 510640, Guangdong, Peoples R China
来源：
PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016 | 2016年
关键词：
LQR; Tracking Control; Linearized Model; Four-wheel Car; TRACKING CONTROL;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This work studies the trajectory tracking for a car-like robot. Based on the kinematic equations of the mobile robot, an tracking error model is obtained. And then, this nonlinear model is linearized around origin. Based on local linearized model, an optimal controller is designed for the trajectory tracking problem by using optimal linear quadratic (LQ) design approach. The simulation shows the effectiveness of optimal LQR (linear quadratic regulator) controller for the cases where the robot tracks both straight and curve trajectories.
引用
收藏
页码：2515 / 2518
页数：4
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