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)
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.”
Key words
Beijing/People’s Republic of China/Asi a/Emerging Technologies/Machine Learning/Robot/Robotics/Beihang University
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