@inproceedings{de68dad3a4fe4708b983c0b7cc4cd97d,
title = "A nonlinear adaptive variable structure trajectory tracking algorithm for mobile robots",
abstract = "Trajectory tracking control is an important subject for mobile robots, and lots of new algorithms have been presented recently. The tracking algorithm for a scenario of a WMR (wheeled mobile robot) tracking a moving target is discussed in this paper. The tracking guidance model of WMR and target is derived, and a nonlinear variable structure tracking algorithm is designed based on Lyapunov stability theory according to the tracking mathematical model and the uncertainty of target acceleration. Meanwhile, an adaptive algorithm is proposed for the uncertain item of the variable structure control law so as to increase the robustness of the tracking algorithm. A numerical example of maneuvering target tracking verifies the rightness of the tracking model and the effectiveness of the proposed method.",
keywords = "Adaptive variable structure control, Mobile robots, Robustness, Trajectory tracking",
author = "Lianzheng Ge and Ruifeng Li and Dianyong Yu and Lijun Zhao",
year = "2008",
doi = "10.1007/978-3-540-88513-9\_96",
language = "英语",
isbn = "3540885129",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
number = "PART 1",
pages = "892--900",
booktitle = "Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings",
address = "德国",
edition = "PART 1",
note = "1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 ; Conference date: 15-10-2008 Through 17-10-2008",
}