机构

• 长春光学精密机械与物... [1]

采集方式

• OAI收割 [1]

内容类型

• 会议论文 [1]

发表日期

• 2012 [1]

学科主题

筛选

浏览/检索结果: 共1条，第1-1条 帮助 条数/页： 5101520253035404550556065707580859095100 排序方式： 请选择题名升序题名降序发表日期升序发表日期降序提交时间升序提交时间降序作者升序作者降序 Trajectory tracking control for mobile robot based on the fuzzy sliding mode (EI CONFERENCE) 会议论文  OAI收割 10th World Congress on Intelligent Control and Automation, WCICA 2012, July 6, 2012 - July 8, 2012, Beijing, China Xie M.-J.; Li L.-T.; Wang Z.-Q. 收藏  |  浏览/下载：31/0  |  提交时间：2013/03/25 The trajectory tracking control problem of the uncertain mobile robot with nonholonomic constraints is analyzed. Sliding mode control is presented based on the kinematics models analysis. Switching function of sliding model control is designed according to back-stepping method. Trending law control is selected to improve the system dynamic performance. In order to solve the constant speed problem caused by conventional trending law control  fuzzy control is used to adjust trending speed in the real time. The simulation results demonstrate that the fuzzy sliding mode controller improves the rapidity of trajectory tracking  and reduces the tracking error and the chattering of the control output. 2012 IEEE.