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轮式移动操作机器人的鲁棒跟踪控制器设计

Robust Following Controller Design of Wheeled Mobile Manipulator

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【作者】 张硕生余达太

【Author】 ZHANG Shuosheng, YU DataiBeijing Institute of Petro-Chemical Technology. Beijing 102600, ChinaRobotics Research Institute, University of Science and Technology Beijing, Beijing 100083, China

【机构】 北京石油化工学院自动化系北京科技大学机器人研究所 北京 102600北京 100083

【摘要】 针对轮式移动操作机器人的非完整性和不确定性,为其设计了鲁棒跟踪控制器.即采用分段运动学到动力学方法为移动平台设计动力学跟踪控制器,并分别为移动平台和机械手设计神经网络控制器,利用遗传算法来搜索神经网络的优化权系值,从而补偿平台与机械手间的不确定量.通过Matlab的Simulink以及CMEX文件对所设计的控制器仿真,结果表明此控制器具有较强的鲁棒性.

【Abstract】 Focusing on the nonholonomy and uncertainty of wheeled mobile manipulators, a robust following controller was presented, the dynamic following controller was designedby the method of backstepping kinematics into dynamics, and the neural network controllers for the mobile platform and manipulator by the genetic algorithm to search for the neural network’s weights. The uncertainty terms were compensated. The robust controller was simulated using the simulink of Matlab and C MEX-file. The results show the controller has better robustness.

  • 【文献出处】 北京科技大学学报 ,Journal of University of Science and Technology Beijing , 编辑部邮箱 ,2003年01期
  • 【分类号】TP242.6
  • 【被引频次】14
  • 【下载频次】442
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