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| Adaptive control for simultaneous tracking and stabilization of wheeled mobile robot with uncertainties. Journal of Intelligent & Robotic Systems, 2023, 108(3), 46. DOI: 10.1007/s10846-023- 01908-0. 求助这篇论文的SCI检索信息，非常感谢！！ |
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感谢参与，应助指数 +1
cuiminyue: 金币+60, ★★★★★最佳答案 2023-12-18 22:50:21
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Adaptive Control for Simultaneous Tracking and Stabilization of Wheeled Mobile Robot with Uncertainties By Cui, MY (Cui, Mingyue) [1] , [2] ; Liu, HZ (Liu, Hongzhao) [1] ; Wang, X (Wang, Xing) [1] ; Liu, W (Liu, Wei) [1] (provided by Clarivate) Source Volume108Issue3 DOI10.1007/s10846-023-01908-0 Article Number 46 Published JUL 2023 Indexed 2023-07-21 Document Type Article Abstract In this work, an adaptive control strategy is proposed for simultaneous tracking and stabilization of nonholonomic mobile robot with uncertainties. The tracking controller is consisted of two subcontrollers: position controller and direction angle controller. The hyperbolic tangent function is employed to design the position control law, and the adaptive laws of the uncertainties are obtained by Lyapunov direct method, so as to guarantee the global stability of the tracking controller. An adaptive sliding mode controller is designed for control of the direction angle, and the influence of direction angle error on the stability of the position tracking system is considered. By adjusting the control gain coefficients of the two control subsystems, the convergence speed of the direction angle control subsystem is far greater than that of the position control subsystem, so as to assure the asymptotic convergence of the whole robot control system. Furthermore, the stabilization problem is converted into an equivalent tracking problem through the selection of appropriate reference velocities. The asymptotic convergence of pose errors for mobile robot is proved by the Lyapunov stability theory. Simulations and experiments are carried out to verify that the designed control method can simultaneously handle the problems of trajectory tracking and stabilization of mobile robot. Keywords Author KeywordsTracking controlStabilization controlAdaptive controlSliding mode controlMobile robots Keywords PlusSLIDING MODE CONTROLPOINT STABILIZATIONSATURATION Author Information Corresponding Address Cui, Mingyue (corresponding author) Nanyang Normal Univ, Coll Mech & Elect Engn, Nanyang 473061, Peoples R China Corresponding Address Cui, Mingyue (corresponding author) Minist Educ, Key Lab Ind Internet Things & Networked Control, Chongqing 400065, Peoples R China Addresses 1 Nanyang Normal Univ, Coll Mech & Elect Engn, Nanyang 473061, Peoples R China 2 Minist Educ, Key Lab Ind Internet Things & Networked Control, Chongqing 400065, Peoples R China E-mail Addresses cuiminyue@sina.com Categories/ Classification Research AreasComputer ScienceRobotics Citation Topics 4 Electrical Engineering, Electronics & Computer Science 4.29 Automation & Control Systems 4.29.1716 Nonholonomic Systems Sustainable Development Goals 11 Sustainable Cities and Communities Web of Science Categories Computer Science, Artificial IntelligenceRobotics Funding Funding agency Grant number Natural Science Foundation of Henan of China 202300410303 Open fund project of Key Laboratory of Industrial Internet of Things amp; Networked Control of the Ministry of Education of China 2020FF05 Key Scientific Research Project of Henan Colleges and Universities of China 21B120001 Key Scientific and Technological Project of Henan Province 232102211047 Nanyang Normal University Foundation of China 2019STP002 Language English Accession Number WOS:001024978700002 ISSN 0921-0296 eISSN 1573-0409 IDS Number L7JG1 |
2楼2023-12-18 12:00:21
