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Adaptive Trajectory Tracking Control of Wheeled Mobile Robots with Nonholonomic Constraint 被引量:2
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作者 李建华 王孙安 《Journal of Electronic Science and Technology of China》 2005年第4期342-347,353,共7页
A mobile robot is one of the well-known nonholonomic systems. In this paper, a new adaptive tracking controller for the kinematic model of a nonholonomic mobile robot with unknown parameters is proposed. Stability of ... A mobile robot is one of the well-known nonholonomic systems. In this paper, a new adaptive tracking controller for the kinematic model of a nonholonomic mobile robot with unknown parameters is proposed. Stability of the rule is proved through the use of a Liapunov function. The artificial electrostatic field cooperates with error posture in steering in the controller. At last, this method is implemented on the simulations and the wheeled mobile robot. Results show the effectiveness of the controllers. 展开更多
关键词 mobile robot nonholonomic systems trajectory tracking artificial electrostatic field
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