CASIA OpenIR  > 09年以前成果
Tracking control of a nonholonomic mobile robot using a fuzzy-based approach
Zou, An-Min; Hou, Zeng-Guang; Tan, Min; Zhao, Zeng-Shun; Wang, L; Jiao, L; Shi, G; Li, X; Liu, J
2006
发表期刊FUZZY SYSTEMS AND KNOWLEDGE DISCOVERY, PROCEEDINGS
卷号4223页码:826-835
文章类型Article
摘要This paper investigates the tracking problem of nonholonomic mobile robots. A control structure combining a kinematic controller and a dynamic controller based on nonlinear feedback control plus fuzzy compensator is presented. The fuzzy compensator, whose parameters are tuned on-line, is employed to approximate the total uncertainty including the structured and unstructured uncertainties due to the universal approximation property of fuzzy logic systems. The stability of the proposed approach is guaranteed by the Lyapunov theory. Simulation results show the efficiency of the proposed approach.
WOS标题词Science & Technology ; Technology
关键词[WOS]NETWORKS
收录类别ISTP ; SCI
语种英语
WOS研究方向Computer Science
WOS类目Computer Science, Artificial Intelligence
WOS记录号WOS:000241106000102
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9221
专题09年以前成果
作者单位Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
推荐引用方式
GB/T 7714
Zou, An-Min,Hou, Zeng-Guang,Tan, Min,et al. Tracking control of a nonholonomic mobile robot using a fuzzy-based approach[J]. FUZZY SYSTEMS AND KNOWLEDGE DISCOVERY, PROCEEDINGS,2006,4223:826-835.
APA Zou, An-Min.,Hou, Zeng-Guang.,Tan, Min.,Zhao, Zeng-Shun.,Wang, L.,...&Liu, J.(2006).Tracking control of a nonholonomic mobile robot using a fuzzy-based approach.FUZZY SYSTEMS AND KNOWLEDGE DISCOVERY, PROCEEDINGS,4223,826-835.
MLA Zou, An-Min,et al."Tracking control of a nonholonomic mobile robot using a fuzzy-based approach".FUZZY SYSTEMS AND KNOWLEDGE DISCOVERY, PROCEEDINGS 4223(2006):826-835.
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