相关实验视频

Updated: Jun 22, 2025

WheelCon: A Wheel Control-Based Gaming Platform for Studying Human Sensorimotor Control
08:18

WheelCon: A Wheel Control-Based Gaming Platform for Studying Human Sensorimotor Control

Published on: August 15, 2020

5.0K

滑动模式基于观察者的模型预测跟踪控制用于Mecanum轮式移动机器人.

Dongliang Wang1, Yong Gao2, Wu Wei2

  • 1School of Department of Electronic and Information Engineering, Shantou University, 515063, Guangdong, China; Key Lab of Digital Signal and Image Processing of Guangdong Province, Shantou University, 515063, Guangdong, China.

ISA transactions
|June 30, 2024
PubMed
概括

一个新的自适应变量功率滑动模式以观察者为基础的模型预测控制 (AVPSMO-MPC) 增强了 Mecanum 轮式移动机器人 (MWMR) 轨迹跟踪. 这种强大的方法确保了精确的控制,尽管存在外部干扰和模型不确定性.

关键词:
机械轮驱动的移动机器人模型预测控制模型预测控制滑动模式观察者 滑动模式观察者轨迹跟踪跟踪 轨道跟踪

更多相关视频

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect09:00

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect

Published on: December 19, 2016

14.6K
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

11.6K

相关概念视频

Relative Motion Analysis - Acceleration01:10

Relative Motion Analysis - Acceleration

A slider-crank mechanism converts rotational motion from the crank into linear motion of the slider or vice versa. This mechanism consists of three main parts: the crank, the connecting rod, and the slider. The movement of the slider-crank is an example of general plane motion as the fluctuating angle between the crank and the connecting rod. Consider a segment AB where point A is at the end of the slider and point B is on the diametrically opposite end to point A, on a crack. The variance in...
347
One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
481
Relative Motion Analysis using Rotating Axes01:25

Relative Motion Analysis using Rotating Axes

Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame.
However, to express the relative position of point B relative to point A, an additional frame of reference, denoted as x'y', is necessary. This additional frame not only translates but also rotates relative to the fixed frame, making it...
456
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
395
Rolling With Slipping01:14

Rolling With Slipping

Rolling with slipping is a physical phenomenon that occurs when a rolling object experiences both rotational and linear motion but also experiences frictional forces that cause slipping. This phenomenon can occur in various situations, such as when a tire rolls on a wet road or a ball rolls on a rough surface.
An object's rolling motion is characterized by its rotation around its axis, while linear motion refers to the object's translational motion along a surface. Frictional forces can...
4.9K
PD Controller: Design01:26

PD Controller: Design

In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
218