Trajectory tracking control of two-wheeled differentially driven mobile robot

被引：0

作者：

Sun Zi-wen ^{[1
]}

Chang Cong-cong ^{[1
]}

机构：

[1] So Yangtze Univ, Inst Elect Automat, Wuxi 214122, Peoples R China

来源：

PROCEEDINGS OF THE 2007 CHINESE CONTROL AND DECISION CONFERENCE | 2007年

关键词：

mobile robot; differentially driven; adaptive 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：

A model based on adaptive control scheme for differentially driven wheeled mobile robot is presented. Robot dynamics and the coupling between the motions of the two differential wheels are considered. The model modifies the traditional adaptive control inputs and keeps the motor moment outputs in a sound bound smoothly. Simulation results show the effectiveness of the proposed method.

引用

页码：435 / 438

页数：4

共 7 条

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