电子学报2011，Vol.39Issue(3)：591-595,5.
基于Backstepping和神经动力学的非完整移动机器人点镇定
Point Stabilization of a Nonholonomic Mobile Robot Based on Backstepping and Neural Dynamics
摘要
Abstract
Taking nonholonomic wheeled mobile robot as the research objective,this paper makes a deep study of point stabilization problem. Based on the posture error model in polar coordinate and model of wheeled mobile robot, a asymptotic point stabilization controller is designed by the integration of neural dynamics and Backstepping. This control strategy can solve the velocity and torque jump problem produced by initial error, and make the robot converge to target point quickly. Computer simulatios validate the effectiveness of the proposed approach.关键词
非完整移动机器人/点镇定/位姿误差模型/Backstepping/神经动力学Key words
nonholonomic mobile robot/point stabilization/posture error model/Backstepping/neural dynamics分类
信息技术与安全科学引用本文复制引用
曹政才,赵应涛,吴启迪..基于Backstepping和神经动力学的非完整移动机器人点镇定[J].电子学报,2011,39(3):591-595,5.基金项目
机器人技术与系统国家重点实验室开放研究项目(No.SKLRS-2010-MS-14) （No.SKLRS-2010-MS-14）
北京化工大学创新基金(No.091001021) （No.091001021）
