摘要
研究了具有参数不确定性的非完整移动机器人轨迹跟踪问题.综合考虑了移动机器人的运动学和动力学方程,首先采用输入-输出反馈线性化方法得到具有不确定性的线性化模型,系统中的不确定性满足匹配条件;然后基于积分滑模控制的思想设计了鲁棒轨迹跟踪控制器,保证了系统在整个响应过程中的鲁棒性,并且分析了参数不确定对控制器的影响,给出了一个闭环系统稳定的充分条件;最后对系统具有较大的参数摄动进行了仿真试验,结果表明所设计的控制器能够保证移动机器人有效性地跟踪期望轨迹.
The trajectory tracking control problem of nonholonomic mobile robots with parameter uncertainties has been studied. The kinematics and dynamical models of mobile robots are taken into account. The linear model with matched uncertainties is obtained via input-output feedback linearization method, and then a robust trajectory tracking controller is proposed based on integral sliding mode control, which guarantees the robustness of the system throughout the entire response of the system starting from the initial time instance. Furthermore, the influence of parameter uncertainties on the controller is analyzed and a sufficient condition to guarantee the stability of closed-loop system is suggested. Simulations were performed on the system with parameter uncertainties, and the results show that the proposed controller can track desired trajectory effectively.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2008年第A02期62-67,共6页
Journal of Southeast University：Natural Science Edition
关键词
移动机器人
轨迹跟踪
参数不确定
积分滑模控制
mobile robots
trajectory tracking
parameter uncertainties
integral sliding mode control
