计算机工程与应用Issue(16)：36-41,6.DOI:10.3778/j.issn.1002-8331.1406-0088
基于终端滑模机器人模糊自适应路径跟踪控制
摘要
Abstract
A fuzzy adaptive path tracking control scheme is presented for a mobile robots with uncertain position of centroid based on Fast Terminal Sliding Mode(FTSM). The fuzzy system is used to approximate the unknown function of controller, unknown parameters are adjusted by using Lyapunov stability analysis, and the robust controller is designed to compensate for the approximation errors. The proposed design scheme is proved to guarantee that all signals in the closed-loop system are bounded and that the tracking error converges to a small neighborhood of the origin in finite time. Simulation results verify the effectiveness of the proposed scheme.关键词
移动机器人系统/快速终端滑模/路径跟踪/自适应模糊控制Key words
mobile robots system/fast terminal sliding mode/path tracking control/adaptive fuzzy control分类
信息技术与安全科学引用本文复制引用
王洪泉,师五喜,常绍平,修春波..基于终端滑模机器人模糊自适应路径跟踪控制[J].计算机工程与应用,2015,(16):36-41,6.基金项目
国家自然科学基金（No.61203302）。 （）
