He Xinyi, Han Xiuping, Wei Tengda, Li Xiaodi
School of Mathematics and Statistics, Shandong Normal University, Ji'nan 250014, China.
Research Center of System Theory and Application, Chongqing University of Posts and Telecommunications, Chongqing 400065, China.
Math Biosci Eng. 2024 Feb 18;21(3):3774-3783. doi: 10.3934/mbe.2024167.
This paper was concerned with the trajectory tracking control of wheeled mobile robots using aperiodic intermittent control. By establishing the corresponding motion model of the wheeled mobile robot, a tracking control strategy was proposed based on the intermittent control approach and backstepping method. Compared to the controllers using continuous state feedback, the proposed control strategy was activated only on separate time intervals, which combined the features of closed- and open-loop control. An example was given to illustrate the effectiveness of the obtained result.
本文研究了基于非周期间歇控制的轮式移动机器人轨迹跟踪控制问题。通过建立轮式移动机器人的相应运动模型，提出了一种基于间歇控制方法和反步法的跟踪控制策略。与使用连续状态反馈的控制器相比，所提出的控制策略仅在离散的时间间隔上激活，结合了闭环控制和开环控制的特点。给出了一个例子来说明所得结果的有效性。
