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论文类型：期刊论文

发表时间：2011-02-01

发表刊物：INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL

收录刊物：Scopus、SCIE、EI

卷号：7

期号：2

页面范围：637-646

ISSN号：1349-4198

关键字：2WMRs; Lower gravity of center; Underactuated; Sliding mode robust controller

摘要：Two-wheeled mobile robots (2WMRs) with lower center of gravity exhibit more practicality and operability because their mass center locates on the bottom of the configuration center. By analyzing motion behaviors of the vehicle body, we present the underactuated property and give the dynamics equation of this kind of robot. The system matrices and nonholonomic constraint change drastically because of the unavoidable oscillation companying with underactuated vehicle body. Considering this fact, we propose a sliding mode robust controller based on the nominal models of the system matrices to realize the trajectory planning. The tracking performances can be achieved by adaptively regulating the coefficients of this control law. Simulation results verify the proposed controller is simple, practical and effective for the 2WMRs with lower gravity of center.