Robust Smooth Time-varying Exponential Stabilization of Dynamic Nonholonomic Mobile Cart with Parameter Uncertainties  

作　　者：马保离 

机构地区：[1]TheSeventhResearchDivision,BeijingUniversityofAeronauticsandAstronauticsBeijing100083

出　　处：《自动化学报》2005年第2期314-319,共6页Acta Automatica Sinica

基　　金：Supported by National Natural Science Foundation of P. R. China (60274005, 60334030)

摘　　要：For regulating the dynamic nonholonomic mobile cart with parameter uncertainties, a time-varying robust control law is derived to yield globally exponential convergence of cart's position and orientation to the desired set point. The controller design relies on converting the cart's dynamics to an advantageous form, and the robust linear feedback control laws steer the cart's position and orientation errors to zero exponentially. Simulation results show the effectiveness of the proposed control law.For regulating the dynamic nonholonomic mobile cart with parameter uncertainties, a time-varying robust control law is derived to yield globally exponential convergence of cart's position and orientation to the desired set point. The controller design relies on converting the cart's dynamics to an advantageous form, and the robust linear feedback control laws steer the cart's position and orientation errors to zero exponentially. Simulation results show the effectiveness of the proposed control law.

关 键 词：参数不确定 鲁棒镇定 移动小车 增强可靠性 平滑时变控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]