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时间:2020-03-24
《基于EKF和Lyapunov函数的移动机器人轨迹跟踪控制.pdf》由会员上传分享,免费在线阅读,更多相关内容在行业资料-天天文库。
1、机床与液压Mar.2013HydromechatronicsEngineeringVo1.41No.6DOI:10.3969/j.issn.1001-3881.2013.06.013TheMobileRobotTrajectoryTrackingControlBasedontheEKFandtheLyapunovFunctionWANGJing,JIANGGangSchoolofManufacturingScienceandEngineering,SouthwestUniversityofScienceandTechnology,Mianyang621010,Chin
2、aAbstract:Accordingtothefactthatthewheeledmobilerobotsareinfluencedbytheenvironmen.talfactorinpractice,theinformationofreferencetrajectoryoftherobotwascorrectedbyusingtheemendedKalmanfilter(EKF)algorithmfusionodometryandultrasonicobservationdata.Basedontherobotdynamicmodel,aglobalasympt
3、oticalstabletrackingcontrollerwasconstruc-tedbyusingtheLyapunovdirectmethod,andtheglobalstabilityofthesystemwasprovedbyu-singLyapunovstabilitytheorem.Thesimulationresultsofthispapershowedthatthetrackingcontroller,whichcombinedboththedatafilteringandLyapunovmethod,hasbeRereficiency.Keywo
4、rds:wheeledmobilerobot,emendedkalmanfiltering,Lyapunovmethod,trajectorytrack-ingthetrackingcontrollerwhichpossessesglobalconver-1.Introductiongenceproperty.Buttheslidingmodecontrollerde—signstructureiscomplex.Withthe%eeledMobileRobot(WMR)usedThemotionprocessofrobotmustgathersensormorean
5、dmorewidely,thedemandofrobotautoma—data,providereferencetrajectoryfortherobot.Theretiondegreeisgettinghigherandhigher.Thecontrolwillbenoiseintheacquisitionprocess;therefore,itofrobotmovementincludesnavigationpath,speedisespeciallyimportanttochooseanappropriatefilte—andacceleration.Themo
6、vementcontrolmethodsringmethod.mainlyhavethePIDcontrol,variablestructurecon—Aimedataboveproblems,thispaperusedthetrolandadaptivecontro1.thefuzzycontro1.etc.Var—extendedKalmanfilter(EKF)algorithmforoptimaliablestructurecontrolisapplicabletoallkindsoflin.estimationofthereferencetrajectory
7、,atthesameearandnonlinearsystemanditalsohasgoodadapta.time,basedoncontrolLyapunovfunction(CLF)de-bilitytothesystemofinterferenceandperturbation.signedslidingmodecontrollerforspeedtrackingcon—Literature【1IusedLyapunovfunctionvariablestruc—trolratesandnonlinearswitchingfunction.T
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