Computer Engineering and Applications ›› 2007, Vol. 43 ›› Issue (17): 114-116.
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CHENG Wei-ming,TANG Zhen-min,ZHAO Chun-xia
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成伟明,唐振民,赵春霞
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Abstract: A path tracking controller of tracked robot is designed based on the kinematic relationship between tracked micro-robot and wheeled robot.The controller’s global stability is verified with Lyapunov theory.Parameters is introduced to describe the track-soil interactions.Limitations of speed and speed acceleration is adopted to make the track smooth.Simulations and actual experiment reveals the controller is precise,global stable and easy to be implemented.
摘要: 根据履带式机器人运动学特性与轮式机器人的关系,给出了履带式微小型机器人的路径跟踪控制器,利用Lyapunov稳定判据证明其全局稳定性。在控制器的设计中考虑了履带-地面作用,引入参数对其描述。考虑了左右履带的速度以及加速度限制,以保证跟踪轨迹的平滑。仿真实验与实际实验验证了该方法具有控制精确,全局稳定收敛与简单实用的优点。
CHENG Wei-ming,TANG Zhen-min,ZHAO Chun-xia. Path tracking controller design of tracked micro-robot[J]. Computer Engineering and Applications, 2007, 43(17): 114-116.
成伟明,唐振民,赵春霞. 微小型履带式机器人路径跟踪控制器设计[J]. 计算机工程与应用, 2007, 43(17): 114-116.
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http://cea.ceaj.org/EN/Y2007/V43/I17/114