文章基本信息

标题：Output Tracking of Nonholonomic Mobile Robots with a Model-free Fractional-order Visual Feedback
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作者：Hua Chen ; Hua Chen ; YangQuan Chen 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：18
页码：736-741
DOI：10.1016/j.ifacol.2016.10.253
语种：English
出版社：Elsevier
摘要：Abstract: In this paper, the output tracking problem is considered for an uncertain dynamic systems of nonholonomic mobile robots with uncalibrated visual parameters, unknown control directions, unmodeled dynamics and external disturbances. A model-free, fractional-order generalized principle self-support (FOGPSS) visual feedback control algorithm is proposed such that the tracking error can be driven into a pre-specified neighborhood of zero just by using incomplete informations of the moving objects to be tracked. The convergence of the corresponding closed-loop systems of tracking error is strictly proved based on the stability theory of fractional-order systems. Finally, some numerical simulations show the efficiency of the presented design strategy.
关键词：KeywordsFractional-ordernonholonomic mobile robotsvisual feedbackmodel-freeself-support