| 2 | 1/1 | 返回列表 |
| 查看: 2498 | 回復(fù): 1 | |||
cuiminyue至尊木蟲 (著名寫手)
|
[求助]
求助一篇論文的SCI檢索信息,在線等。
|
| Adaptive control for simultaneous tracking and stabilization of wheeled mobile robot with uncertainties. Journal of Intelligent & Robotic Systems, 2023, 108(3), 46. DOI: 10.1007/s10846-023- 01908-0. 求助這篇論文的SCI檢索信息,非常感謝!! |
版主 (文學(xué)泰斗)
風(fēng)雪
|
Adaptive Control for Simultaneous Tracking and Stabilization of Wheeled Mobile Robot with Uncertainties By Cui, MY (Cui, Mingyue) [1] , [2] ; Liu, HZ (Liu, Hongzhao) [1] ; Wang, X (Wang, Xing) [1] ; Liu, W (Liu, Wei) [1] (provided by Clarivate) Source Volume108Issue3 DOI10.1007/s10846-023-01908-0 Article Number 46 Published JUL 2023 Indexed 2023-07-21 Document Type Article Abstract In this work, an adaptive control strategy is proposed for simultaneous tracking and stabilization of nonholonomic mobile robot with uncertainties. The tracking controller is consisted of two subcontrollers: position controller and direction angle controller. The hyperbolic tangent function is employed to design the position control law, and the adaptive laws of the uncertainties are obtained by Lyapunov direct method, so as to guarantee the global stability of the tracking controller. An adaptive sliding mode controller is designed for control of the direction angle, and the influence of direction angle error on the stability of the position tracking system is considered. By adjusting the control gain coefficients of the two control subsystems, the convergence speed of the direction angle control subsystem is far greater than that of the position control subsystem, so as to assure the asymptotic convergence of the whole robot control system. Furthermore, the stabilization problem is converted into an equivalent tracking problem through the selection of appropriate reference velocities. The asymptotic convergence of pose errors for mobile robot is proved by the Lyapunov stability theory. Simulations and experiments are carried out to verify that the designed control method can simultaneously handle the problems of trajectory tracking and stabilization of mobile robot. Keywords Author KeywordsTracking controlStabilization controlAdaptive controlSliding mode controlMobile robots Keywords PlusSLIDING MODE CONTROLPOINT STABILIZATIONSATURATION Author Information Corresponding Address Cui, Mingyue (corresponding author) Nanyang Normal Univ, Coll Mech & Elect Engn, Nanyang 473061, Peoples R China Corresponding Address Cui, Mingyue (corresponding author) Minist Educ, Key Lab Ind Internet Things & Networked Control, Chongqing 400065, Peoples R China Addresses 1 Nanyang Normal Univ, Coll Mech & Elect Engn, Nanyang 473061, Peoples R China 2 Minist Educ, Key Lab Ind Internet Things & Networked Control, Chongqing 400065, Peoples R China E-mail Addresses cuiminyue@sina.com Categories/ Classification Research AreasComputer ScienceRobotics Citation Topics 4 Electrical Engineering, Electronics & Computer Science 4.29 Automation & Control Systems 4.29.1716 Nonholonomic Systems Sustainable Development Goals 11 Sustainable Cities and Communities Web of Science Categories Computer Science, Artificial IntelligenceRobotics Funding Funding agency Grant number Natural Science Foundation of Henan of China 202300410303 Open fund project of Key Laboratory of Industrial Internet of Things amp; Networked Control of the Ministry of Education of China 2020FF05 Key Scientific Research Project of Henan Colleges and Universities of China 21B120001 Key Scientific and Technological Project of Henan Province 232102211047 Nanyang Normal University Foundation of China 2019STP002 Language English Accession Number WOS:001024978700002 ISSN 0921-0296 eISSN 1573-0409 IDS Number L7JG1 |
| 2 | 1/1 | 返回列表 |
| 最具人氣熱帖推薦 [查看全部] | 作者 | 回/看 | 最后發(fā)表 | |
|---|---|---|---|---|
|
[考研] 材料類考研調(diào)劑 +7 | gemmgemm 2026-03-01 | 8/400 |
|
|---|---|---|---|---|
|
[考研] 267調(diào)劑求助 +5 | 聰少OZ 2026-03-04 | 5/250 |
|
|
[考研] 304求調(diào)劑 +7 | 曼殊2266 2026-02-28 | 8/400 |
|
|
[考研] 376求調(diào)劑 +3 | 王浩然sam 2026-03-04 | 3/150 |
|
|
[考研] 293求調(diào)劑 +3 | 是樂渝哇 2026-03-04 | 3/150 |
|
|
[考研] 材料復(fù)試調(diào)劑 +7 | 學(xué)材料的點 2026-03-01 | 8/400 |
|
|
[考研] 264求調(diào)劑 +8 | 26調(diào)劑 2026-03-03 | 8/400 |
|
|
[考研] 0856材料與化工求調(diào)劑! +3 | 化工考生111 2026-03-04 | 7/350 |
|
|
[考研]
|
15779376950 2026-03-01 | 8/400 |
|
|
[考研] 292求調(diào)劑 +9 | yhk_819 2026-02-28 | 9/450 |
|
|
[考研] 一志愿314求調(diào)劑 +7 | 202111120625 2026-03-03 | 7/350 |
|
|
[考研] 0856材料工程,初試313調(diào)劑 +7 | 賣個關(guān)子吧 2026-03-03 | 7/350 |
|
|
[考研] 0857調(diào)劑 +6 | 一ll半 2026-02-28 | 8/400 |
|
|
[考研] 338求調(diào)劑 +5 | 18162027187 2026-03-02 | 6/300 |
|
|
[考研] 298求調(diào)劑 +7 | axyz3 2026-02-28 | 8/400 |
|
|
[考研] 求調(diào)劑 +11 | yunziaaaaa 2026-03-01 | 13/650 |
|
|
[考研] 化學(xué),材料,環(huán)境類求調(diào)劑 +7 | 考研版棒棒 2026-03-02 | 7/350 |
|
|
[考研] 材料工程274求調(diào)劑 +5 | Lilithan 2026-03-01 | 5/250 |
|
|
[考博] 博士自薦 +4 | kkluvs 2026-02-28 | 5/250 |
|
|
[考研] 調(diào)劑 +3 | 13853210211 2026-03-02 | 4/200 |
|