Robust low-level motion control of WMR with stochastic active observers

被引：0

作者：

Maia, R ^{[1
]}

Cortesao, R ^{[1
]}

Nunes, U ^{[1
]}

Silva, V ^{[1
]}

Fonseca, J ^{[1
]}

机构：

[1] Univ Coimbra, Inst Syst & Robot, P-3030290 Coimbra, Portugal

来源：

PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3 | 2003年

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper describes a robust control method for the low-level motion of a Wheeled Mobile Robot (WMR). It is demonstrated through simulation analysis that the Active Observer (AOB) Control structure provides a reliable tracking control action, for the WMRs wheel velocity, in spite of parameters uncertainties. The results show that this type of controller structure can be applied to WMR, where information of motor intrinsic parameters or cross-couplings is unavailable, this is the case of robotic wheelchair "RobChair" [1].

引用

页码：876 / 882

页数：7

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