首页|Studies from Beihang University Yield New Data on Robotics (A Unified Controller of Global Trajectory Tracking and Posture Regulation for a Car-like Mobile Robo t)
Studies from Beihang University Yield New Data on Robotics (A Unified Controller of Global Trajectory Tracking and Posture Regulation for a Car-like Mobile Robo t)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – Researchers detail new data in Robotic s. According to news originating from Beijing, People’s Republic of China, by Ne wsRx correspondents, research stated, “This work proposes a smooth time-varying controller for trajectory tracking and posture regulation problems of car-like m obile robots (CLMR). Currently, few studies focus on the control problems of CLM R’s kinematic model.” Financial support for this research came from National Natural Science Foundatio n of China (NSFC). Our news journalists obtained a quote from the research from Beihang University, “Global trajectory tracking or global posture stabilization controller for CLMR has not yet been proposed. In this study, we propose a global trajectory tracki ng controller for CLMR for the first time. By setting a specific reference traje ctory, the controller is generalized to the posture stabilization task. Obstacle avoidance is also taken into consideration in posture stabilization task. Unlik e the prototypical method of transforming the model into a nonholonomic chained- form system, the proposed method is designed based on the original tracking erro r equation. Therefore our approach does not have singularities and has a global attraction region. Furthermore, the global convergence of the proposed controlle rs is strictly proved using the proof by contradiction and Barbalat’s lemma.”
BeijingPeople’s Republic of ChinaAsi aEmerging TechnologiesMachine LearningRobotRoboticsBeihang University
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