《机床与液压》 Hydromechatronics Engineering

文章详情

稿件标题: The Mobile Robot trajectory Tracking Control Based on the EKF and the Lyapunov Function
稿件作者: WANG Jing ,JIANG Gang
关键字词: wheeled mobile robot, extended kalman filtering, lyapunov method,trajectory tracking
文章摘要: According to the fact that the wheeled mobile robots are influenced by the environmental factor in practice, the information of reference trajectory of the robot was corrected by using the extended Kalman filter (EKF) algorithm fusion odometry and ultrasonic observation data. Based on the robot dynamic model, a global asymptotical stable tracking controller was constructed by using the Lyapunov direct method, and the global stability of the system was proved by using Lyapunov stability theorem. The simulation results of this paper showed that the tracking controller, which combined both the data filtering and Lyapunov method, has better efficiency.
收录刊物: 2013.6
稿件基金: Supported by Postgraduate Innovation Fund sponsored by Southwest University of Science and Technology (12ycjj37) , the National Natural Science Foundation of China and China academy of engineering physics mutual funds under Grant (NSAF: 11176027)
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