实际输入饱和的一类非完整运动学系统的镇定  

Stabilization of nonholonomic kinematic systems based on practical input saturation

作　　者：刘毅[1,2] 王朝立[1] 李清松[1] 

机构地区：[1]上海理工大学电气工程学院 [2]上海应用技术学院机械与自动化工程学院,上海200235

出　　处：《控制理论与应用》2007年第6期909-912,共4页Control Theory & Applications

基　　金：国家自然科学基金资助项目(60474009);上海市曙光计划项目(05SG48);上海市教委科研项目(F07zz90).

摘　　要：对一类非完整移动机器人提出了实际输入饱和下镇定控制器的设计方案.这种设计不是基于链式系统而是基于原始系统的.控制器的设计使用了滑模控制和多步控制策略,并用Lyapunov的思想证明了闭环系统的收敛性.最后,用设计的控制器对一类机器人进行了仿真,验证了方法的有效性.Stabilizing control schemes are proposed for nonholonomic wheeled-mobile robots with saturated practical inputs. These schemes are given not based on chained forms, but based on original systems. The stabilizing controllers are then investigated by using sliding mode control and multiple step control schemes. The convergence of the closed loop system is also proved by using Lyapunov method. Finally, the simulations are implemented based on the nonholonomic robot with the proposed controller, and the validity of the design is verified.

关 键 词：非完整控制系统 镇定 移动机器人 输入饱和 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]