Research on Double Closed-loop Trajectory Tracking Control Algorithm of Wheeled Mobile Robot Based on Global Stability

doi:10.1109/IHMSC49165.2020.00048

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	Research on Double Closed-loop Trajectory Tracking Control Algorithm of Wheeled Mobile Robot Based on Global Stability
	Su, Yunhao 1; Liang, Yanbing 2
	2020-08
会议名称	12th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2020
会议录名称	Proceedings - 2020 12th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2020
卷号	1
页码	180-183
会议日期	2020-08-20
会议地点	Virtual, Hangzhou, China
出版者	Institute of Electrical and Electronics Engineers Inc.
产权排序	1
摘要	In this paper, a double closed-loop trajectory tracking control system with inner and outer loop structure is designed for a two-wheeled mobile robot, where the outer loop is the position subsystem and the inner loop is the attitude subsystem. Sliding mode control is adopted for attitude control design. This paper uses hyperbolic tangent function to design the position control, which can make position tracking system satisfy the Lipschitz condition, thus ensuring that the double-loop trajectory tracking control is globally stable. Through simulation, we prove that this method can improve that the effect of trajectory tracking control very well, especially in the initial stage of control. © 2020 IEEE.
关键词	wheeled mobile robot trajectory tracking sliding mode control Lipschitz condition global stable
作者部门	光电跟踪与测量技术研究室
DOI	10.1109/IHMSC49165.2020.00048
收录类别	EI
ISBN号	9781728165165
语种	英语
EI入藏号	20204409407085
引用统计
文献类型	会议论文
条目标识符	http://ir.opt.ac.cn/handle/181661/93768
专题	光电跟踪与测量技术研究室
作者单位	1.Xi'an Institute of Optics and Precision Mechanics of Cas, University of Chinese Academy of Sciences, Xi'an, China; 2.Xi'an Institute of Optics and Precision Mechanics of Cas, Xi'an, China
推荐引用方式 GB/T 7714	Su, Yunhao,Liang, Yanbing. Research on Double Closed-loop Trajectory Tracking Control Algorithm of Wheeled Mobile Robot Based on Global Stability[C]:Institute of Electrical and Electronics Engineers Inc.,2020:180-183.

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