不确定轮式移动机器人的有限时间镇定控制  

Finite-Time Stabilization Control of Uncertain Wheeled Mobile Robot

作　　者：叶锦华[1] 李迪[1] 叶峰[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510640

出　　处：《华南理工大学学报（自然科学版）》2013年第8期47-54,共8页Journal of South China University of Technology(Natural Science Edition)

基　　金：国家"863"计划项目(2011AA04A104;2012AA040909);广东省教育部产学研结合项目(2011A090200054);广东省战略性新兴产业核心技术攻关项目(2012A010702004)

摘　　要：提出一种不确定非完整n维单链系统全局有限时间镇定控制器的设计方法.该方法将单链系统分解为一个一阶子系统和一个n-1阶子系统,并采用一种输入状态不连续变换实现两个子系统的解耦,然后基于有限时间Lyapunov函数法对两个子系统分别进行控制器设计,保证不确定系统的稳定和有限时间收敛.此外,对n-1阶子系统的控制器设计还结合了递归设计方法,并利用切换控制策略,使得解耦后的n-1阶子系统不存在奇异,保证控制器的全局稳定性.最后将该控制器应用于一类不确定非完整轮式移动机器人,仿真结果证明了该控制器的有效性.In this paper,a design method of the global finite-time stabilization controller is proposed for the uncertain n-dimensional nonholonomic single chain system.In this method,the single chain system is divided into a firstorder subsystem and an （n-1）-order subsystem,and they are decoupled by means of the input-state-scaling technique.Then,the controller of each subsystem is separately designed by means of the finite-time Lyapunov function method,thus guaranteeing the stability and finite-time convergence of the uncertain system.Moreover,the recursive design method is also adopted in the controller design of the （n-1）-order subsystem,and the switching control strategy is used to eliminate the singularity of the （n-1）-order subsystem,thus ensuring the global stability of the controller.Finally,the controller is applied to a kind of uncertain nonholonomic wheeled mobile robot.Simulation results show that the controller is effective.

关 键 词：轮式移动机器人 非完整链式系统 镇定 有限时间控制 不确定系统 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]