非完整约束条件下轮式移动机器人轨迹的H_∞鲁棒控制  

Trajectory Tracking Control of Nonholonomic Mobile Robot Based on H_∞ Robust Strategy

作　　者：秦益霖[1,2] 史国栋[1,3] 

机构地区：[1]江苏大学,江苏镇江212013 [2]常州信息职业技术学院,江苏常州213164 [3]常州大学,江苏常州213164

出　　处：《煤炭技术》2011年第3期176-179,共4页Coal Technology

基　　金：常州信息职业技术学院创新人才基金项目(KJCX-20090016)

摘　　要：首先建立了包含自身不确定因素和外界干扰的轮式移动机器人动力学模型,然后将解耦和H∞鲁棒控制相结合应用于非完整约束条件下轮式移动机器人的轨迹跟踪。接着利用输入和输出解耦得到广义误差的线性状态方程。再根据H∞指标获得新的动态反馈控制律,并证明了该控制律的稳定性。最后,通过仿真显示了控制器的有效性。This article established a dynamic model which contains its own uncertainties and the disturbance at first,then A hybrid strategy of decoupling and H∞ robust control was applied to the trajectory tracking of the nonholonomic mobile robot.Then use the linear state equation of generalized error is transformed by input/output decoupling.After that,according to the H∞ performance a new dynamic feedback control strategy is established.And it is proved to be asymptotical stability.Finally,the effectiveness of the proposed strategy is shown through the simulation of the desired elliptical trajectory tracking.

关 键 词：轮式移动机器人 输入输出解耦 H∞指标 鲁棒控制 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置]