2篇
您的检索式：作者名="YIN Longjie"
|
|
|
题名
|
作者
|
年代
|
出处
|
被引量
|
| 1 | Vision-based Stabilization of Nonholonomic Mobile Robots by Integrating Sliding-mode Control and Adaptive Approach显示文摘Vision-based pose stabilization of nonholonomic mobile robots has received extensive attention.At present,most of the solutions of the problem do not take the robot dynamics into account in the controller design,so that these controllers are difficult to realize satisfactory control in practical application.Besides,many of the approaches suffer from the initial speed and torque jump which are not practical in the real world.Considering the kinematics and dynamics,a two-stage visual controller for solving the stabilization problem of a mobile robot is presented,applying the integration of adaptive control,sliding-mode control,and neural dynamics.In the first stage,an adaptive kinematic stabilization controller utilized to generate the command of velocity is developed based on Lyapunov theory.In the second stage,adopting the sliding-mode control approach,a dynamic controller with a variable speed function used to reduce the chattering is designed,which is utilized to generate the command of torque to make the actual velocity of the mobile robot asymptotically reach the desired velocity.Furthermore,to handle the speed and torque jump problems,the neural dynamics model is integrated into the above mentioned controllers.The stability of the proposed control system is analyzed by using Lyapunov theory.Finally,the simulation of the control law is implemented in perturbed case,and the results show that the control scheme can solve the stabilization problem effectively.The proposed control law can solve the speed and torque jump problems,overcome external disturbances,and provide a new solution for the vision-based stabilization of the mobile robot. | CAO Zhengcai YIN Longjie FU Yili | 2013 | Chinese Journal of Mechanical Engineering2013，26，1： | 4 |
| 2 | Visual Servo Stabilization of Nonholonomic Mobile Robot Based on Epipolar Geometry and 1D Trifocal Tensor显示文摘 | CAO Zhengcai YIN Longjie FU Yili ZHANG Jie | 2013 | Chinese Journal of Electronics2013，22，4： | 2 |
您所在的机构暂未开通此部分的功能，请联系管理员