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Finite-time cascaded tracking control approach for mobile robots

文献类型：期刊论文

作者Zhang, Yangming1; Liu, Guorong2; Luo, Biao1,3
刊名INFORMATION SCIENCES
出版日期2014-11-10
卷号284页码:31-43
关键词Mobile robot Cascaded design Trajectory tracking Finite-time control Nonholonomic system Sliding mode control
英文摘要This paper develops a new control approach for trajectory tracking of mobile robots. For the purpose of tracking trajectory, the error dynamics of a mobile robot are divided into a first-order subsystem and a second-order subsystem by using a cascaded control design. Firstly, a global finite-time control law of the angular velocity is designed for the first-order system in order to stabilize the angle error of mobile robots. Subsequently, a finite-time sliding mode control law of forward velocity is synthesized, which guarantees the global stability of the second-order subsystem. Furthermore, the global uniform stability of the whole closed-loop system is analyzed by employing cascaded control theory, and some sufficient conditions are derived. Finally, the proposed control algorithm is applied to mobile robots, where simulation results demonstrate good convergence and performance. (C) 2014 Elsevier Inc. All rights reserved.
WOS标题词Science & Technology ; Technology
类目[WOS]Computer Science, Information Systems
研究领域[WOS]Computer Science
关键词[WOS]SLIDING MODE CONTROL ; NONHOLONOMIC MECHANICAL SYSTEMS ; UNIFORM ASYMPTOTIC STABILITY ; ADAPTIVE-CONTROL ; VARYING SYSTEMS ; EXPONENTIAL STABILIZATION ; TRAJECTORY TRACKING ; DYNAMIC-SYSTEMS ; CHAINED FORM ; DESIGN
收录类别SCI
语种英语
WOS记录号WOS:000341677100003
源URL[http://ir.ia.ac.cn/handle/173211/3853]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_智能化团队
作者单位1.Beijing Univ Aeronaut & Astronaut, Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
2.Hunan Inst Engn, Xiangtan 411104, Peoples R China
3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Zhang, Yangming,Liu, Guorong,Luo, Biao. Finite-time cascaded tracking control approach for mobile robots[J]. INFORMATION SCIENCES,2014,284:31-43.
APA Zhang, Yangming,Liu, Guorong,&Luo, Biao.(2014).Finite-time cascaded tracking control approach for mobile robots.INFORMATION SCIENCES,284,31-43.
MLA Zhang, Yangming,et al."Finite-time cascaded tracking control approach for mobile robots".INFORMATION SCIENCES 284(2014):31-43.

入库方式： OAI收割

来源：自动化研究所

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