Design of a hybrid path-tracking controller for wheeled mobile robots

被引：0
|
作者：
Zhang, Huaixiang [1 ]
Yuan, Kui [1 ]
Zou, Wei [1 ]
机构：
[1] Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
来源：
DYNAMICS OF CONTINUOUS DISCRETE AND IMPULSIVE SYSTEMS-SERIES B-APPLICATIONS & ALGORITHMS | 2006年 / 13E卷
关键词：
D O I：
暂无
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
To study the path tracking control based on the kinematic model of a 2-wheel differentially driven mobile robot, dynamic control for angular velocity is introduced and a hybrid tracking control algorithm is proposed. By using the backstepping method and Lyapunov function, a smooth time-varying tracking controller is designed. Combining a fuzzy sliding mode controller, the global convergence of path tracking control is guaranteed. Simulation results demonstrate the effectiveness of the proposed algorithm.
引用
收藏
页码：64 / 67
页数：4
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