| 基于滑模控制的室内移动机器人路径跟踪 |
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| 引用本文： | 郝存明,张英坤,梁献霞.基于滑模控制的室内移动机器人路径跟踪[J].应用声学,2017,25(8):93-96. |
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| 作者姓名： | 郝存明 张英坤 梁献霞 |
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| 作者单位： | 河北省科学院应用数学研究所,河北省科学院应用数学研究所, |
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| 基金项目： | 河北省科学院科技计划项目(14605) |
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| 摘 要： | 为解决室内环境下移动机器人的路径跟踪问题,建立了移动机器人的数学模型,并构造一种新型滑模控制趋近律。采用该趋近律设计滑模控制律,并利用李雅普诺夫定理证明了系统稳定性。采用所设计的滑模控制器对室内移动机器人进行路径跟踪实验,仿真结果验证了该方法的有效性。
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| 关 键 词： | 滑模控制 移动机器人 路径跟踪 趋近律 |
| 收稿时间： | 2017/4/11 0:00:00 |
| 修稿时间： | 2017/4/27 0:00:00 |
Path Tracking of Indoor Mobile Robot Based on Sliding Mode Control |
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| Hao Cunming,Zhang Yingkun and Liang Xianxia.Path Tracking of Indoor Mobile Robot Based on Sliding Mode Control[J].Applied Acoustics,2017,25(8):93-96. |
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| Authors: | Hao Cunming Zhang Yingkun and Liang Xianxia |
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| Institution: | (Institute of Applied Mathematics, Hebei Academy of Sciences, Shijiazhuang 050081, China,(Institute of Applied Mathematics, Hebei Academy of Sciences, Shijiazhuang 050081, China |
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| Abstract: | To solve the path tracking problem of the indoor mobile robot, the mathematical model of the mobile robot is established, and a new sliding mode reaching law is constructed. The reaching law was adopted to design the sliding mode control law, and the system stability.is proved by using lyapunov theorem.The simulation results of the indoor mobile robot path tracking experiment on the sliding mode controller demonstrate the effectiveness of the proposed method. |
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| Keywords: | Sliding mode control Mobile robot Path tracking Reaching law |
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