控制理论与应用2012，Vol.29Issue(9)：1146-1150,5.
轮式移动机器人嵌入式自适应控制器设计与仿真
Design and simulation of embedded model-free adaptive control system of wheeled mobile robots
摘要
Abstract
On the basis of variational principle, we derive the compact form of the enhanced model-free adaptive control method (Emfac) and modify the control criterion function by adding the first order output signal. In designing the feedforward Kalman MFAC controller for a differential driving wheeled mobile robot, the nonholonomic constraint and the transmission error from motors to wheels in the driving transmission system are fed forward to the system for controlling the orientation angle and the motion velocity of the mobile robot. The global stability of the proposed control method is verified. Simulations are performed with the open-source freeware FreeMAT V4.0. Practical experiments are carried out on the ARM7 system. Results validate the effectiveness of the proposed method.关键词
改进无模型自适应控制/轮式移动机器人/卡尔曼方法/变分原理Key words
enhanced model-free adaptive method/ wheeled mobile robot/ Kalman method/ variational principle分类
信息技术与安全科学引用本文复制引用
宋立博,李劲松..轮式移动机器人嵌入式自适应控制器设计与仿真[J].控制理论与应用,2012,29(9):1146-1150,5.基金项目
国家自然科学基金资助项目(51075272) （51075272）
国际热核聚变实验堆(ITER)计划专项资助项目(2011GB113005). （ITER）
