Control Lyapunov Function Design for Trajectory Tracking Problems of Wheeled Mobile Robot

被引：9
|
作者：
Kubo, Ryoya [1 ]
Fujii, Yasuhiro [2 ]
Nakamura, Hisakazu [2 ]
机构：
[1] Tokyo Univ Sci, Yamazaki 2641, Noda, Chiba 2788150, Japan
[2] Tokyo Univ Sci, Tokyo, Japan
来源：
IFAC PAPERSONLINE | 2020年 / 53卷 / 02期
关键词：
Nonlinear Control; Control Lyapunov Function; Minimum Projection Method; FIELD CONTROL PVFC;
D O I：
10.1016/j.ifacol.2020.12.1704
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Trajectory tracking is an important control problem that has been studied by many researchers. However, no studies have discussed the trajectory tracking problem for a wheeled mobile robot via the minimum projection method. This paper proposes a Tracking Control Lyapunov Function (TCLF) design that uses dynamic extension and the minimum projection method. The proposed method converges the two-wheeled mobile robot to a time-varying target state. Moreover, the effectiveness of the proposed method is validated through a computer simulation. Copyright (C) 2020 The Authors.
引用
收藏
页码：6177 / 6182
页数：6
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