دوره 14، شماره 2 - ( مجله کنترل، جلد 14، شماره 2، تابستان 1399 )                   جلد 14 شماره 2,1399 صفحات 35-45 | برگشت به فهرست نسخه ها

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Keymasi Khalaji A, Yazdani A. Backward and forward path following control of a wheeled robot. JoC. 2020; 14 (2) :35-45
URL: http://joc.kntu.ac.ir/article-1-572-fa.html
کیماسی خلجی علی، یزدانی ابوالفضل. کنترل تعقیب مسیر یک ربات چرخدار در حرکت‌های رو به عقب و رو به جلو. مجله کنترل. 1399; 14 (2) :35-45

URL: http://joc.kntu.ac.ir/article-1-572-fa.html


1- دانشگاه خوارزمی
چکیده:   (1621 مشاهده)
ربات متحرک چرخدار، یکی از مهمترین انواع ربات‌های متحرک می¬باشد. یک دسته از این ربات¬ها سیستم‌های دارای تریلر می¬باشد. مسئله کنترل حرکت این دسته از ربات‌ها مخصوصاً در حرکت رو به عقب، یکی از چالش برانگیزترین مباحث پژوهشی در این حوزه می¬باشد. در این مقاله روشی برای کنترل حرکت یک ربات متحرک دارای تریلر در تعقیب مسیرهای کارتزین ارائه شده است که همزمان توانایی کنترل حرکت رو به عقب و رو به جلو ربات دارای تریلر را برای ما فراهم می¬آورد. برای این منظور، ابتدا معادلات سینماتیکی ربات دارای تریلر استخراج شده و سپس مسیر مرجع مورد نظر برای ربات تعریف می¬گردد. معادلات تعقیب مسیرهای کارتزین علاوه بر معادلات حرکت ربات، بیان¬گر حرکت ربات نسبت به مسیر مرجع نیز می¬باشد. سپس با استفاده از تبدیلاتی معادلات سیستم را در یک فضای جدید بیان نموده و در پی آن، کنترل‌کننده‌ای برای سیستم ارائه گردیده‌ است. قانون کنترلی طراحی شده سیستم را به صورت مجانبی به سمت مسیر مرجع پایدار می¬سازد. در پایان نتایج بدست آمده به عنوان تضمین کنترل‌کننده طراحی شده ارائه گردیده است.
متن کامل [PDF 1068 kb]   (94 دریافت)    
نوع مطالعه: پژوهشي | موضوع مقاله: تخصصي
دریافت: 1397/1/21 | پذیرش: 1397/12/25 | انتشار: 1398/5/24

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