文章基本信息

标题：Sliding-mode adaptive control of Pioneer 3-DX wheeled mobile robot
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作者：Adrian FILIPESCU ; Alexandru STANCU ; Silviu FILIPESCU 等
期刊名称：Annals of “Dunarea de Jos”
印刷版ISSN：1221-454X
出版年度：2007
卷号：2007
出版社：“Dunarea de Jos” University of Galati
摘要：Parameter identification scheme and discrete-time adaptive sliding-mode controller applied to Pioneer 3-DX wheeled mobile robot (WMR) are presented in this paper. The dynamical model for mobile robot with one pair of active wheels, time–varying mass and moment of inertia have been used in sliding-mode control. Two closed-loop, on-line parameter estimators have been used in order to achieve robustness against parameter uncertainties (robot mass and moment of inertia). Two sliding-mode adaptive controllers corresponding to angular and position motion have been designed. Closed-loop circular trajectory tracking Pioneer 3-DX real-time control is presented.
关键词：Discrete-time Pioneer 3-DX model, sliding-mode adaptive control, on-line parameter estimation.