Robust Controller for Wheeled Mobile Robots

被引：0
|
作者：
Chalhoub, Nabil G. [1 ]
Matta, Sherif M. A. [1 ]
机构：
[1] Wayne State Univ, Dept Mech Engn, Detroit, MI 48202 USA
来源：
2012 AMERICAN CONTROL CONFERENCE (ACC) | 2012年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A guidance and control system has been developed for the autonomous operation of under-actuated mobile robots. The guidance system is based on the concepts of the line-of-sight (LOS) with the acceptance radius. It empowers the controller to simultaneously deal with the cross-track error while yielding the proper orientation of the robot. Both theoretical and experimental results prove the viability of the proposed approach and demonstrate the robustness of the controller to significant modeling imprecision.
引用
收藏
页码：5011 / 5016
页数：6
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