吉林大学学报(工学版) ›› 2011, Vol. 41 ›› Issue (增刊2): 301-305.

• paper • Previous Articles     Next Articles

Robust trajectory tracking control of four-wheel mobile car

JIAO De-yu   

  1. China CNR Co., Ltd., Dalian Electric Traction R&D Center, Dalian 116022, China
  • Received:2011-06-23 Online:2011-09-30 Published:2011-09-30

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Abstract:

The kinematic model,dynamic model and motor model of mobile car were introduced.The kinematic controller,dynamic controller and motor controller were designed for the car with uncertainty by using backstepping method.Finally,the simulation and experiments show that the controllers are valid.

Key words: automatic control, 4-wheel mobile car, uncertainty, backstepping, robust control, trajectory tracking

CLC Number: 

  • TP242


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