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论文类型：期刊论文

发表时间：2012-01-01

发表刊物：APPLIED ARTIFICIAL INTELLIGENCE

收录刊物：SCIE、EI、Scopus

卷号：26

期号：10

页面范围：952-966

ISSN号：0883-9514

摘要：In this study, a double closed-loop control structure with a disturbance observer is reported. This combining structure could globally realize postures-tracking stabilization and have disturbance adaptive capability. On the outer loop, a new function having sinusoidal and inverse tangent characteristics, which are continuously differentiable, is applied to construct the velocity controller by using backstepping technology. Meanwhile, a disturbance-observer-based controller is applied to the inner loop to estimate the dynamic disturbances acting on the wheels; these disturbances are unavoidable and uncertain in an unstructured environment. To enhance the robustness of the system, sliding-mode control technology is applied to construct the system's dynamic controller. Finally, simulations are carried out to verify the effectiveness of the proposed control methods.