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轮式移动机器人的滚动LQR轨迹跟踪控制 被引量：2

Moving LQR tracking control of wheeled mobile robot
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摘要 基于滚动优化思想提出了一种轮式移动机器人的LQR轨迹跟踪控制方法.在每一采样时刻,通过实时地对跟踪误差系统进行线性化得到线性化模型,并利用该模型通过求解LQR问题获得状态反馈控制律.文中给出的不同情况下跟踪‘8’字轨迹的仿真结果验证了该方法的有效性. This paper proposes an LQR tracking control scheme for Wheeled Moving Robot （WMR） based on the idea of moving optimization. During each sample time, the tracking error system is linearized on the desired trajectory online, and the state feedback gain is derived by the solution to an LQR optimization. Simulation resuits of tracking 8-shaped trajectory under different conditions test the efficiency of the scheme.
作者 高兴泉 李洪涛 王瑞雪 黄惠敏
机构地区 吉林化工学院信息与控制工程学院 中国石油吉林石化公司动力二厂 中国石油吉林石化公司炼油厂
出处 《吉林化工学院学报》 CAS 2008年第2期38-41,共4页 Journal of Jilin Institute of Chemical Technology
基金 吉林省科技发展计划项目(2007C13) 吉林市杰出青年基金项目
关键词 轮式移动机器人 轨迹跟踪 线性化 滚动LQR wheeled moving robot tracking control linearized model moving LQR
分类号 TP273.5 [自动化与计算机技术—检测技术与自动化装置]
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参考文献6

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二级参考文献16

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共引文献10

同被引文献11

引证文献2

二级引证文献10

吉林化工学院学报
2008年 第2期

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