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  • 标题:Simple Robust and Adaptive Tracking Control for Mobile Robots ∗
  • 本地全文:下载
  • 作者:Anton A. Pyrkin ; Alexey A. Bobtsov ; Sergey A. Kolyubin
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2015
  • 卷号:48
  • 期号:11
  • 页码:143-149
  • DOI:10.1016/j.ifacol.2015.09.174
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractThe problem of simple adaptive and robust control is studied for the case of parametric and dynamic dimension uncertainties: only the maximum possible relative degree of the plant model is known. The control approach “consecutive compensator” is investigated. To illustrate the eficiency of proposed approach an example with the mobile robot motion control using computer vision system is considered. Some remarks about mapping algorithms using stereo cameras and laser scanner for implementation in new home robots are considered.
  • 关键词:Keywordssimple robust and adaptive controlmobile robotsmapping algorithms
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