Point Stabilization of a Nonholonomic Mobile Robot Based on Backstepping and Neural Dynamics

CAO Zheng-cai; ZHAO Ying-tao; WU Qi-di

您当前的位置：

首页 >

文章列表页 >

Point Stabilization of a Nonholonomic Mobile Robot Based on Backstepping and Neural Dynamics

更新时间：2025-07-16

- Point Stabilization of a Nonholonomic Mobile Robot Based on Backstepping and Neural Dynamics
- Acta Electronica Sinica Vol. 39, Issue 3, Pages: 591-595(2011)
- 作者机构：
  
  1. 北京化工大学信息科学与技术学院,北京,100029
  2. 同济大学嵌入式系统与服务计算教育部重点实验室,上海,201804
  3. 北京化工大学信息科学与技术学院北京,100029
  4. 同济大学嵌入式系统与服务计算教育部重点实验室上海,201804
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP24
- Published：2011
- 稿件说明：
移动端阅览
CAO Zheng-cai, ZHAO Ying-tao, WU Qi-di. Point Stabilization of a Nonholonomic Mobile Robot Based on Backstepping and Neural Dynamics[J]. Acta Electronica Sinica, 2011, 39(3): 591-595.
DOI：

CAO Zheng-cai, ZHAO Ying-tao, WU Qi-di. Point Stabilization of a Nonholonomic Mobile Robot Based on Backstepping and Neural Dynamics[J]. Acta Electronica Sinica, 2011, 39(3): 591-595. DOI：

摘要

以非完整移动机器人为控制对象

围绕机器人运动控制中重要的点镇定问题进行深入研究.本文在考虑移动机器人模型和极坐标系下的位姿误差模型基础上

提出一种Backstepping与神经动力学相结合方法

设计具有渐近稳定的点镇定控制器.该控制方法能有效解决因初始误差存在而引起的速度和力矩突变问题

使机器人从静止状态快速收敛到任意参考点

实现机器人各种期望位姿的有效镇定.通过计算机仿真验证所提出控制规律的有效性.

Abstract

Taking nonholonomic wheeled mobile robot as the research objective

this paper makes a deep study of point stabilization problem.Based on the posture error model in polar coordinate and model of wheeled mobile robots

a asymptotic point stabilization controller is designed by the integration of neural dynamics and Backstepping.This control strategy can solve the velocity and torque jump problem produced by initial error

and make the robot converge to target point quickly.Computer simulations validate the effectiveness of the proposed approach.

关键词

Keywords

references

Views

1112

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

No data

Related Author

No data

Related Institution

No data

⁰