Adaptive trajectory tracking control of two-wheeled self-balance robot

• 作 者: 秦勇
• 机 构: RoboticsInstitute,Measure-controlTechnology＆CommunicationEngineering
• 出 处: High Technology Letters
• 发表日期: 2009年1期
• 关键词: 轮式移动机器人 轨迹跟踪控制 自适应 自平衡 控制LYAPUNOV函数 非线性动力学模型 跟踪控制器 全局渐近稳定性 wheeled mobile robot

<正> Wheeled mobile robot is one of the well-known nonholonomic systems.A two-wheeled self-balancerobot is taken as the research objective.This paper carried out a detailed force analysis of the robot andestablished a non-linear dynamics model.An ada