基于非完整移动机器人动态模型的鲁棒输出跟踪  

Robust Output Tracking Control Based on the Dynamical Model of Nonholonomic Mobile Robots

作　　者：胡终须[1] 胡跃明[1] 毛宗源[1] 

机构地区：[1]华南理工大学自动控制工程系,广州510641

出　　处：《控制与决策》2000年第5期599-601,608,共4页Control and Decision

基　　金：国家 8 6 3计划项目!(980 5 - 19)

摘　　要：提出一种基于非完整移动机器人动态模型的鲁棒跟踪控制算法。在系统存在模型不确定性但满足“匹配条件”的情况下 ,设计了一种滑动控制器。仿真结果表明 ,当系统的质量、转动惯量、结构参数等存在较大误差时仍能实现精确跟踪 ,具有良好的鲁棒性。The robust output tracking control problem of a class of nonholonomic control system with model uncertainties is implemented by I/O linearization. A sliding mode controller is designed. When a suitable base for null space of the constraint matrix is selected, kinds of uncertainties or disturbances will obey the “matching conditions” and the I/O linearization can be realized by an appropriate output function. Finally a detained robust output tracking control law for a mobile robot is presented as an application example.

关 键 词：移动机器人 交结构控制 动态模型 鲁棒控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]