基于分段模糊Lyapunov函数的轮式移动机器人轨迹跟踪控制  

Trajectory tracking control for wheeled mobile robots based on a piecewise fuzzy Lyapunov function

作　　者：张佳媛[1] 李洪波[2] 刘贺平[1] 

机构地区：[1]北京科技大学自动化学院,北京100083 [2]清华大学计算机科学与技术系,北京100084

出　　处：《工程科学学报》2015年第7期955-964,共10页Chinese Journal of Engineering

基　　金：国家重点基础研究发展计划资助项目(2012CB821206);国家自然科学基金资助项目(61174069);北京市自然科学基金资助项目(4122037)

摘　　要：研究了具有控制输入约束和外部干扰的轮式移动机器人的轨迹跟踪问题.在轨迹跟踪位姿误差的T-S模型和并行分布补偿框架下,利用分段模糊Lyapunov理论给出了满足控制输入约束的H∞控制器设计方法,并证明了闭环系统的稳定性.仿真结果验证了所提方法的有效性.A trajectory tracking problem is investigated for wheeled mobile robots with control input constraints and external disturbances. Firstly,the trajectory tracking posture error model is transformed into a T-S fuzzy model. Under this framework and parallel distributed compensation,a design method of constrained H∞controllers is developed via the piecewise fuzzy Lyapunov function approach,and the stability conditions of the closed-loop system are also derived. Finally,simulation results are given to illustrate the effectiveness of the proposed method.

关 键 词：移动机器人 轨迹 跟踪 模糊控制 LYAPUNOV函数 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]