不满足非完整约束的轮式移动机器人鲁棒镇定  

Robust Stabilization of Wheeled Mobile Robots Without Satisfying Nonholonomic Constraints

作　　者：祝晓才[1] 董国华[1] 蔡自兴[2] 胡德文[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,湖南长沙410073 [2]中南大学信息科学与工程学院,湖南长沙410083

出　　处：《控制工程》2007年第5期522-526,共5页Control Engineering of China

基　　金：国家自然科学基金重点资助项目(60234030);国家杰出青年科学基金资助项目(60225015);高校青年教师奖资助项目

摘　　要：以unicycle类型轮式移动机器人为对象,在理想非完整约束条件被破坏的条件下,采用横截函数方法和Lyapunov重设计技术设计了鲁棒实际镇定律。构造有界横截函数,再结合轮式移动机器人运动学模型对标准SE(2)群运算的左不变性,对误差系统设计光滑指数镇定律,实现标称系统实际镇定;用Lyapunov重设计方法设计修正项,使得闭环系统对滑动干扰鲁棒。仿真结果验证了所设计控制律的有效性。Based on the transverse function method and the Lyapunov redesign technique, robust stabilization control law is proposed for the unicycle-type wheeled mobile robots that does not satisfy the ideal ＂ rolling without slipping＂ constraints, A bounded transverse function is firstly constructed. Then, the left-invariance property of the nominal kinematic model is explored with respect to the standard group operation of the Lie group SE （2）. A smooth exponential stabilizing law is derived for the error system, thus the nominal kinematic model is rendered practically stable. An additional control component is constructed to robustify the nominal control laws. Simulation results show the effectiveness of the proposed robust control law.

关 键 词：轮式移动机器人 李群 横截函数 Lyapunov重设计 鲁棒镇定 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]