Research on Double Closed-loop Trajectory Tracking Control Algorithm of Wheeled Mobile Robot Based on Global Stability

doi:10.1109/IHMSC49165.2020.00048

CORC > 西安光学精密机械研究所 > 中国科学院西安光学精密机械研究所 > 光电测量技术实验室

	Research on Double Closed-loop Trajectory Tracking Control Algorithm of Wheeled Mobile Robot Based on Global Stability
	Su, Yunhao 1; Liang, Yanbing 2
	2020-08
会议日期	2020-08-20
会议地点	Virtual, Hangzhou, China
关键词	wheeled mobile robot trajectory tracking sliding mode control Lipschitz condition global stable
卷号	1
DOI	10.1109/IHMSC49165.2020.00048
页码	180-183
英文摘要	In this paper, a double closed-loop trajectory tracking control system with inner and outer loop structure is designed for a two-wheeled mobile robot, where the outer loop is the position subsystem and the inner loop is the attitude subsystem. Sliding mode control is adopted for attitude control design. This paper uses hyperbolic tangent function to design the position control, which can make position tracking system satisfy the Lipschitz condition, thus ensuring that the double-loop trajectory tracking control is globally stable. Through simulation, we prove that this method can improve that the effect of trajectory tracking control very well, especially in the initial stage of control. © 2020 IEEE.
产权排序	1
会议录	Proceedings - 2020 12th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2020
会议录出版者	Institute of Electrical and Electronics Engineers Inc.
语种	英语
ISBN号	9781728165165
内容类型	会议论文
源URL	[http://ir.opt.ac.cn/handle/181661/93768]
专题	西安光学精密机械研究所_光电测量技术实验室
作者单位	1.Xi'an Institute of Optics and Precision Mechanics of Cas, University of Chinese Academy of Sciences, Xi'an, China; 2.Xi'an Institute of Optics and Precision Mechanics of Cas, Xi'an, China
推荐引用方式 GB/T 7714	Su, Yunhao,Liang, Yanbing. Research on Double Closed-loop Trajectory Tracking Control Algorithm of Wheeled Mobile Robot Based on Global Stability[C]. 见:. Virtual, Hangzhou, China. 2020-08-20.