Trajectory Tracking Control of Wheeled Mobile Robot Based on Haar Wavelet Decomposition
CAO Yang1, FANG Shuai2, XU Xin-he 2
1. Department of Automation, University of Science and Technology of China, Hefei 230031, China; 2. School of Information Science and Engineering, Northeastern University, Shenyang, 110004, China
曹洋, 方帅, 徐心和. 基于Haar小波分解的轮式移动机器人轨迹跟踪控制[J]. 机器人, 2004, 26(5): 429-433..
CAO Yang, FANG Shuai, XU Xin-he . Trajectory Tracking Control of Wheeled Mobile Robot Based on Haar Wavelet Decomposition. ROBOT, 2004, 26(5): 429-433..
Abstract：A method is presented to discompose the desired trajectory into a set of reference postures using Haar wavelet in terms of meeting the dynamic constraint. A virtual robot is set up according to the set of reference postures. Then a velocity-tracking control law based on control Lyapunov function to force the robot to follow the virtual robot. The evident advantages of the proposed method are that the desired trajectory can be any complex nonlinear curve and there is no speed-jumping phenomenon. The experimental results illustrate the effectiveness of the method.
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