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论文标题: |
Study on ADRC Based Lateral Control for Tracked Mobile Robots on Stairs |
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文献编号: |
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论文类型: |
论文 |
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作者: |
Rui Song、Yibin Li、Wenbin Yu、Feng Wang |
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所在页: |
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总页数: |
3070 |
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语种: |
英语 |
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关键字: |
mobile robot, lateral control, ADRC |
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摘要: |
This paper presents an Active disturbance rejection controller (ADRC) based lateral control algorithm for tracked robots on stairs, with the heading angle estimated by the vision system fixed on the robot. It can help the robot keeping its posture in order to avoid the serious influences caused by a wrong operation. Or with some further efforts on intelligent control, the robot can also auto guided on the stairs. Simulation results show that this algorithm can keep the robot a smooth and précised lateral control and effectively overcome the disturbance. |
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论文发表时间: |
2008-9-3 |
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刊物名称: |
IEEE ICAL 2008 |
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出版地: |
2008-12-11 |
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文件大小: |
0K |
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下载链接: |
暂无下载
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下载数: |
0 |
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