应用于双舵小车的混合控制轨迹跟踪

2nd International Conference on Systems and Computer Science Pub Date : 2013-10-17 DOI:10.1109/IcConSCS.2013.6632056

S. A. Tchenderli-Braham, F. Hamerlain

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引用次数: 4

摘要

本文提出了用不连续混合控制律解决双导向移动机器人(Bis-Car)轨迹跟踪控制的稳定性和鲁棒性问题。这种控制是在经典滑模控制和反步控制原理的基础上发展起来的。仿真和实验结果表明了该控制律的鲁棒性和适用性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Trajectory tracking with a hybrid control applied to a bi-steerable car

In this paper we propose to solve the problem of stability and robustness for a trajectory tracking control applied to a bi-steerable mobile robot (Bis-Car) by using a discontinuous hybrid control law. This control is developed from the principles of methods of classic sliding mode and Backstepping. The robustness and the applicability of this control law are shown by simulation and experimentation results.

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2nd International Conference on Systems and Computer Science

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