移动机器人定点目标控制的线性分解方法  

Linear Composition Approach of Position Target Control for Mobile Robot

作　　者：唐丽娜[1] 宿浩[1] 郭忠文[1] 

机构地区：[1]中国海洋大学信息科学与工程学院,山东青岛266100

出　　处：《中国海洋大学学报（自然科学版）》2014年第11期114-117,共4页Periodical of Ocean University of China

基　　金：国家自然科学基金项目(61074092);山东省自然科学基金项目(ZR2010FM019)资助

摘　　要：研究移动机器人的定点目标控制问题。针对移动机器人的非线性模型提出一种线性分解控制方法。根据移动机器人的结构特性,将移动机器人的运动控制过程从时间上分解为原地旋转控制和直线运动控制2个阶段,从而实现了非线性系统的线性解耦分解。根据线性分解模型,分别设计了原地旋转和直线运动的控制算法。理论分析表明,利用线性分解控制方法可以方便地实现移动机器人有限时间定点目标控制。Position target control of mobile robot was considered. A linear decomposition control ap- proach was proposed for nonlinear model of the mobile robot. According to the structural characteristics of the mobile robot, from the time, the robot＇s motion control process was decomposed into rotary control and linear motion control in two stages. So as a decoupling decomposition of the nonlinear system was realized. Based on the two linear decomposition models, rotary control algorithm and linear motion control algorithm were designed respectively. Theoretical analysis shows, by using the linear decomposition meth- od, the point target control of the mobile robot can be easily realized in finite time.

关 键 词：移动机器人 非线性系统 点镇定 解耦 

分 类 号：P13[天文地球—天体力学]