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Mingyue Cui, Hongzhao Liu, Wei Liu, Xiaodong Lv. Orientation-error observer-based tracking control of nonholonomic mobile robots. Nonlinear Dynamics, 2017, 90 (2): 935-946. 如果已经被ei与sci检索，请告知检索号。如果ei与sci库没检索到这个论文，查一下这个期刊分别被ei与sci检索到哪一期了？ |
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sky蒲公英
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cuiminyue: 金币+10, ★★★★★最佳答案, 谢谢！ 2017-11-07 23:35:29
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Orientation-error observer-based tracking control of nonholonomic mobile robots Accession number: 20173204028007 Articles not published yet, but available online Article in Press Information about Article in Press Authors: Cui, Mingyue 1 , 2 ; Liu, Hongzhao 1 , 2 ; Liu, Wei 1 , 2 ; Lv, Xiaodong 1 , 2 Author affiliations : 1 College of Mechanical and Electronical Engineering, Nanyang Normal University, Nanyang; 473061, China 2 Oil Equipment Intelligent Control Engineering Laboratory of Henan Province, Nanyang; Henan; 473061, China Corresponding author: Cui, Mingyue (cuiminyue@sina.com) Source title: Nonlinear Dynamics Abbreviated source title: Nonlinear Dyn Issue date: August 5, 2017 Publication Year: 2017 Pages: 1-15 Language: English ISSN: 0924090X E-ISSN: 1573269X CODEN: NODYES Document type: Article in Press Publisher: Springer Netherlands Abstract: In this paper, a novel trajectory tracking controller is proposed for mobile robots with unknown orientation angle by employing the orientation-error observer (OEO). In order to overcome the local stability resulted from linearization design methods, an asymptotically stable controller is designed using Lyapunov’s direct method. This method breaks down nonlinear systems into low-dimensional systems and simplifies the controller design using virtual auxiliary error function and partial Lyapunov functions. A state-feedback controller for the nonlinear error dynamics of the mobile robot is combined with an observer that estimates the orientation-error based on available trajectory information and measurement of the position coordinates. The stability of the system is easily proved via the Lyapunov theory. Abundant simulation and experiment results validate the effectiveness and superiority of the proposed control method. © 2017 Springer Science+Business Media B.V. Main heading: Controllers Controlled terms: Control system analysis - Errors - Lyapunov functions - Lyapunov methods - Mobile robots - Navigation - Robots - State feedback - System stability Uncontrolled terms: Asymptotically stable - Low-dimensional systems - Non-holonomic mobile robots - Orientation error - State feedback controller - Tracking controls - Trajectory information - Trajectory tracking controllers Classification code: 731.1Control Systems - 731.5Robotics - 732.1Control Equipment - 921Mathematics - 961Systems Science DOI: 10.1007/s11071-017-3703-y Database: Compendex Compilation and indexing terms, © 2017 Elsevier Inc. |
2楼2017-11-07 08:41:30
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cuiminyue: 金币+10, ★★★很有帮助, 非常感谢！ 2017-11-07 23:35:56
感谢参与，应助指数 +1
cuiminyue: 金币+10, ★★★很有帮助, 非常感谢！ 2017-11-07 23:35:56
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