正在加载图片...
·964· 工程科学学报,第37卷,第7期 [12]Chen C,Li T S,Yeh Y.EP-based kinematic control and adap- tive fuzzy sliding-mode dynamic control for wheeled mobile ro- M hots.Inf Sci,2009,179(1-2):180 [13]Khooban M H,Alfi A,Abadi D N M.Teaching-earning-based optimal interval type2 fuzzy PID controller design:a nonholo- 30405060708090100 nomic wheeled mobile robots.Robotica,2013,31(7):1059 [14]Cui M Y,Sun D H.Li Y F,et al.Adaptive tracking control of 1) wheeled mobile robots in presence of longitudinal slipping.Con- trol Decis,2013,28(5):664 (崔明月,孙棣华,李永福,等.轮子纵向打滑条件下的移动 WP个 机器人自适应跟踪控制.控制与决策,2013,28(5):664) [15]Gonzalez R,Fiacchini M,Alamo T,et al.Adaptive control for a -50102030405060708090100 mobile robot under slip conditions using an LMI-based approach. Eur J Control,2010,16(2):144 图9轮式移动机器人的实际控制变量 [16]Chwa D.Fuzzy adaptive tracking control of wheeled mobile ro- Fig.9 Actual control input of WMR bots with state-dependent kinematic and dynamic disturbances. IEEE Trans Fuzzy Syst,2012,20(3):587 矩阵不等式数目多等问题,如何降低相关方法的线性 [17]TakagiT,Sugeno M.Fuzzy identification of systems and its ap- 矩阵不等式数目是一个值得深入研究的问题,此方向 plication to modeling and control.IEEE Trans Syst,1985,SMC- 15(1):116 将是进一步研究的重点. 18] Feng G.Cao S G.Rees N W,et al.Design of fuzzy control sys- 参考文献 tems with guaranteed stability.Fuzzy Sets Syst,1997,85(1):1 1]Chen C.LiTS,Yeh Y,et al.Design and implementation of an 09] Tanaka K,Wang H O.Fuzzy Control Systems Design and Analysis: adaptive sliding-mode dynamic controller for wheeled mobile ro- a Linear Matrix Inequality Approach.New York:Wiley,2001 bots.Mechatronics,2009,19(2):156 [20] Gao XQ,Chen H.Tracking control for wheeled mobile robot via 2]Cao Z C,Zhao YT,Fu YL Trajectory tracking control approach T-$fuzzy model.Control Theory Appl,2007,24(6):873 of a car-ike mobile robot.Acta Electron Sin,2012,40(4):632 (高兴泉,陈虹.基于T6模型的轮式移动机器人轨迹限踪 (曹政才,赵应祷,付宜利.车式移动机器人轨迹跟踪控制方 控制.控制理论与应用,2007,24(6):873) 法.电子学报,2012,40(4):632) 21]Tanaka K,Hori H,Wang H O.A multiple Lyapunov function B]Chwa D.Tracking control of differential-drive wheeled mobile ro- approach to stabilization of fuzzy control systems.IEEE Trans bots using a backstepping-ike feedback linearization.IEEE Trans Fuzzy Syst,2003,11(4):582 Sxt,2010,40(6):1285 2]Ji Z C,Zhou Y H,Shen Y X.Stabilization of a class of fuzzy 4]Kumar U,Sukavanam N.Backstepping based trajectory tracking control systems via piecewise fuzzy Lyapunov function approach control of a four wheeled mobile robot.Int J Ade Rob Syst,2008, /Proceedings of 2007 American Control Conference.New York, 5(4):403 2007:4065 [5]Martins F N,Celeste W C,Carelli R,et al.An adaptive dynamic [23]Ji Z C,Zhu Y,Wang Y.H control for T-$fuzzy system based controller for autonomous mobile robot trajectory tracking.Control on piecewise fuzzy Lyapunov approach.Control Decis,2007,22 Eng Pract,2008,16(11):1354 (12):1357 [6]Canigur E,Ozkan M.Model reference adaptive control of a non- (纪志成,朱芸,王艳.基于分段模糊Ly即unov函数方法的 holonomie wheeled mobile robot for trajectory tracking//Proceed- T6模糊系统H.控制.控制与决策,2007,22(12):1357) ings of INISTA 2012-International Symposium on Innovations in 4]Ji Z C,Zhou Y H,Shen Y X.Stability analysis and guaranteed Intelligent Systems and Applications.Turkey,2012:1 cost design of fuzzy systems via piecewise fuzzy Lyapunov function 7]Tabibian B,Shojaei K,Shahri A M,et al.Adaptive trajectory approach.Acta Autom Sin,2008,34(6):721 tracking control of a differential drive wheeled mobile robot.Ro- (纪志成,周英焕,沈艳霞.基于分段模糊Lyapunov函数的 botica,2011,29(3):391 模糊系统稳定性分析和保性能设计.自动化学报,2008,34 [8]HoangTT,Hiep DT,Duong B G,et al.Trajectory tracking con- (6):721) trol of the nonholonomic mobile robot using torque method and 25] Corradini M L,Orlando G.Control of mobile robots with uncer- neural network /Proceedings of 2013 IEEE 8th Conference on In- tainties in the dynamical model:a discrete time sliding mode ap- dustrial Electronics and Applications.Melboumne,2013:1798 proach with experimental results.Control Eng Pract,2002,10 9]Fengchun Z,Ju D.An optimized fuzzy trajectory tracking control (1):23 of mobile robots /Proceedings of Chinese Control and Decision 26 Kanayama Y,Kimura Y,Miyazaki F,et al.A stable tracking Conference 2008.Yantai,2008:2156 control method for an autonomous mobile robot /Proceedings of [10]Park B S,Yoo S J,Park J B,et al.Adaptive neural sliding mode the 1990 IEEE International Conference on Robotics and Automa- control of nonholonomic wheeled mobile robots with model uncertain- tion.Cincinnati,1990:384 ty.IEEE Trans Control Syst Technol,2009,17(1):207 [27] Guechi E,Lauber J,Dambrine M,et al.Tracking-error model- [11]Martinez R,Castillo O,Aguilar LT.Optimization of interval type2 based PDC control for mobile robots with acceleration limits// fuzzy logic controllers for a perturbed autonomous wheeled mobile ro- Proceedings of 009 IEEE International Conference on Fuzzy Sys- bot using genetic algorithms.Inf Sci,2009,179(13):2158 tems.Jeju Island,2009:197工程科学学报,第 37 卷,第 7 期 图 9 轮式移动机器人的实际控制变量 Fig. 9 Actual control input of WMR 矩阵不等式数目多等问题,如何降低相关方法的线性 矩阵不等式数目是一个值得深入研究的问题,此方向 将是进一步研究的重点. 参 考 文 献 [1] Chen C,Li T S,Yeh Y,et al. Design and implementation of an adaptive sliding-mode dynamic controller for wheeled mobile ro￾bots. Mechatronics,2009,19( 2) : 156 [2] Cao Z C,Zhao Y T,Fu Y L. Trajectory tracking control approach of a car-like mobile robot. Acta Electron Sin,2012,40( 4) : 632 ( 曹政才,赵应涛,付宜利. 车式移动机器人轨迹跟踪控制方 法. 电子学报,2012,40( 4) : 632) [3] Chwa D. Tracking control of differential-drive wheeled mobile ro￾bots using a backstepping-like feedback linearization. IEEE Trans Syst,2010,40( 6) : 1285 [4] Kumar U,Sukavanam N. Backstepping based trajectory tracking control of a four wheeled mobile robot. Int J Adv Rob Syst,2008, 5( 4) : 403 [5] Martins F N,Celeste W C,Carelli R,et al. An adaptive dynamic controller for autonomous mobile robot trajectory tracking. Control Eng Pract,2008,16( 11) : 1354 [6] Canigur E,Ozkan M. Model reference adaptive control of a non￾holonomic wheeled mobile robot for trajectory tracking / / Proceed￾ings of INISTA 2012—International Symposium on Innovations in Intelligent Systems and Applications. Turkey,2012: 1 [7] Tabibian B,Shojaei K,Shahri A M,et al. Adaptive trajectory tracking control of a differential drive wheeled mobile robot. Ro￾botica,2011,29( 3) : 391 [8] Hoang T T,Hiep D T,Duong B G,et al. Trajectory tracking con￾trol of the nonholonomic mobile robot using torque method and neural network / / Proceedings of 2013 IEEE 8th Conference on In￾dustrial Electronics and Applications. Melbourne,2013: 1798 [9] Fengchun Z,Ju D. An optimized fuzzy trajectory tracking control of mobile robots / / Proceedings of Chinese Control and Decision Conference 2008. Yantai,2008: 2156 [10] Park B S,Yoo S J,Park J B,et al. Adaptive neural sliding mode control of nonholonomic wheeled mobile robots with model uncertain￾ty. IEEE Trans Control Syst Technol,2009,17( 1) : 207 [11] Martínez R,Castillo O,Aguilar L T. Optimization of interval type-2 fuzzy logic controllers for a perturbed autonomous wheeled mobile ro￾bot using genetic algorithms. Inf Sci,2009,179( 13) : 2158 [12] Chen C,Li T S,Yeh Y. EP-based kinematic control and adap￾tive fuzzy sliding-mode dynamic control for wheeled mobile ro￾bots. Inf Sci,2009,179( 1--2) : 180 [13] Khooban M H,Alfi A,Abadi D N M. Teaching-learning-based optimal interval type-2 fuzzy PID controller design: a nonholo￾nomic wheeled mobile robots. Robotica,2013,31( 7) : 1059 [14] Cui M Y,Sun D H,Li Y F,et al. Adaptive tracking control of wheeled mobile robots in presence of longitudinal slipping. Con￾trol Decis,2013,28( 5) : 664 ( 崔明月,孙棣华,李永福,等. 轮子纵向打滑条件下的移动 机器人自适应跟踪控制. 控制与决策,2013,28( 5) : 664) [15] Gonzalez R,Fiacchini M,Alamo T,et al. Adaptive control for a mobile robot under slip conditions using an LMI-based approach. Eur J Control,2010,16( 2) : 144 [16] Chwa D. Fuzzy adaptive tracking control of wheeled mobile ro￾bots with state-dependent kinematic and dynamic disturbances. IEEE Trans Fuzzy Syst,2012,20( 3) : 587 [17] Takagi T,Sugeno M. Fuzzy identification of systems and its ap￾plication to modeling and control. IEEE Trans Syst,1985,SMC- 15( 1) : 116 [18] Feng G,Cao S G,Rees N W,et al. Design of fuzzy control sys￾tems with guaranteed stability. Fuzzy Sets Syst,1997,85( 1) : 1 [19] Tanaka K,Wang H O. Fuzzy Control Systems Design and Analysis: a Linear Matrix Inequality Approach. New York: Wiley,2001 [20] Gao X Q,Chen H. Tracking control for wheeled mobile robot via T-S fuzzy model. Control Theory Appl,2007,24( 6) : 873 ( 高兴泉,陈虹. 基于 T-S 模型的轮式移动机器人轨迹跟踪 控制. 控制理论与应用,2007,24( 6) : 873) [21] Tanaka K,Hori H,Wang H O. A multiple Lyapunov function approach to stabilization of fuzzy control systems. IEEE Trans Fuzzy Syst,2003,11( 4) : 582 [22] Ji Z C,Zhou Y H,Shen Y X. Stabilization of a class of fuzzy control systems via piecewise fuzzy Lyapunov function approach / / Proceedings of 2007 American Control Conference. New York, 2007: 4065 [23] Ji Z C,Zhu Y,Wang Y. H∞ control for T-S fuzzy system based on piecewise fuzzy Lyapunov approach. Control Decis,2007,22 ( 12) : 1357 ( 纪志成,朱芸,王艳. 基于分段模糊 Lyapunov 函数方法的 T-S 模糊系统 H∞ 控制. 控制与决策,2007,22( 12) : 1357) [24] Ji Z C,Zhou Y H,Shen Y X. Stability analysis and guaranteed cost design of fuzzy systems via piecewise fuzzy Lyapunov function approach. Acta Autom Sin,2008,34( 6) : 721 ( 纪志成,周英焕,沈艳霞. 基于分段模糊 Lyapunov 函数的 模糊系统稳定性分析和保性能设计. 自动化学报,2008,34 ( 6) : 721) [25] Corradini M L,Orlando G. Control of mobile robots with uncer￾tainties in the dynamical model: a discrete time sliding mode ap￾proach with experimental results. Control Eng Pract,2002,10 ( 1) : 23 [26] Kanayama Y,Kimura Y,Miyazaki F,et al. A stable tracking control method for an autonomous mobile robot / / Proceedings of the 1990 IEEE International Conference on Robotics and Automa￾tion. Cincinnati,1990: 384 [27] Guechi E,Lauber J,Dambrine M,et al. Tracking-error model￾based PDC control for mobile robots with acceleration limits / / Proceedings of 2009 IEEE International Conference on Fuzzy Sys￾tems. Jeju Island,2009: 197 · 469 ·
<<向上翻页
©2008-现在 cucdc.com 高等教育资讯网 版权所有