首页|Northwestern Polytechnic University Details Findings in Robotics (An Optimal Robust Trajectory Tracking Control Strategy for the Wheeled Mobile Robot)
Northwestern Polytechnic University Details Findings in Robotics (An Optimal Robust Trajectory Tracking Control Strategy for the Wheeled Mobile Robot)
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NETL
NSTL
Inst Control Robotics & Systems, Korean Inst Electrical Engineers
A new study on Robotics is now available. According to news reporting out of Shaanxi, People’s Republic of China, by NewsRx editors, research stated, “A new optimal robust control strategy is designed based on the modified backstepping method in this paper. Using this strategy, stable, accurate and real-time trajectory tracking for the wheeled mobile robot in the presence of unavoidable disturbances is achieved.” Financial support for this research came from National Natural Science Foundation of China (NSFC). Our news journalists obtained a quote from the research from Northwestern Polytechnic University, “The control strategy consists of a kinematic controller, a dynamical controller and an online optimization algorithm. The kinematic controller, which considers non-holonomic constraint and the resulting under-actuated nature, has fewer gains and reduces the computational burden. The dynamical controller introduces a saturation function for error compensation and effectively suppresses disturbances. The optimization algorithm is used to achieve online tuning of controllers, thus achieving fast and accurate convergence of the trajectory tracking error. The stability of the control strategy is proved theoretically.”
ShaanxiPeople’s Republic of ChinaAsiaEmerging TechnologiesMachine LearningRobotRoboticsNorthwestern Polytechnic University
NETL
NSTL
Inst Control Robotics & Systems, Korean Inst Electrical Engineers
