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题名: Dynamic Feedback Tracking Control of Tracked Mobile Robots with Estimated Slipping Parameters
作者: Zhou B(周波) ; Han JD(韩建达)
作者部门: 机器人学研究室
会议名称: International Joint Conference on Neural Networks
会议日期: June 1-8, 2008
会议地点: Hong Kong, China
会议主办者: IEEE
会议录: 2008 IEEE INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS, VOLS 1-8
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2008
页码: 1991-1996
收录类别: CPCI(ISTP) ; EI
ISSN号: 1098-7576
ISBN号: 978-1-4244-1820-6
摘要: The trajectory tracking control problem of a tracked vehicle with slipping is considered in this paper. The slipping effects are analyzed and modeled as three time-varying parameters, which can be estimated simultaneously with robot's pose using nonlinear estimators such as unscented Kalman filter. Dynamic feedback linearization integrated with a globally exponential stabilizing state feedback is applied to achieve the tracking control objective. Simulation results are provided to demonstrate the effectiveness of proposed method.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8681
Appears in Collections:机器人学研究室_会议论文

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