シャ　キンカ   Jinhua She   佘　錦華    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2016/04
形態種別	学術論文
査読	査読あり
標題	Robust adaptive tracking control of wheeled mobile robot
執筆形態	共著
掲載誌名	Robotics and Autonomous Systems
掲載区分	国外
出版社・発行元	Elsevier
巻・号・頁	78,pp.36-48
担当範囲	All
著者・共著者	Linjie Xin, Qinglin Wang, Jinhua She, and Yuan Li
概要	This paper considers the problem of robust adaptive trajectory tracking control for a wheeled mobile robot (WMR). First, the trajectory tracking of the WMR is converted to a problem of the stabilization of a double integral system. Next, a continuous finite-time control method is employed to design a tracking controller. Then, a disturbance observer and an adaptive compensator are designed to cooperate with the tracking controller for dealing with system uncertainties of the WMR. Finally, a switching adaptive law is presented in combination with the boundary layer approach to attenuate the chattering in the adaptive compensator. As a result, the control system yields the ultimate boundedness of both the tracking error and the adaptive gain. Simulation results demonstrate the validity of the new method.
外部リンクURL	http://www.sciencedirect.com/science/article/pii/S0921889015301007