基于视觉反馈的非完整机器人不确定链式系统的指数稳定  

Exponential stabilization of uncertain chained systems of nonholonomic robots based on visual feedback

作　　者：梁振英[1] 杜泽华[1] 杜亚男[1] 

机构地区：[1]山东理工大学理学院,山东淄博255000

出　　处：《控制与决策》2016年第3期535-540,共6页Control and Decision

基　　金：国家自然科学基金项目(61374040;61473179);山东自然科学基金项目(ZR2013FM012;ZR2014FM007)

摘　　要：研究带有未知参数的非完整移动机器人的镇定问题.基于已有不确定非完整链式模型,运用辅助变量法和控制输入法分别设计控制器,使系统状态指数收敛.所提出的两种控制器不仅克服了对系统初始状态的限制,而且具有高度的统一性.仿真结果验证了两种控制方法的有效性.This paper investigates the exponential stabilization problem for a kind of nonholonomic robots with uncalibrated visual parameters based on the uncertain nonholonomic chained model. Two kinds of controllers are designed for exponential stabilization of the nonholonimic system by using the auxiliary variable method and the input control method. This two kinds of controllers not only overcome the limit of the initial status of the system but also have high unification. Simulation results show the effectiveness of the proposed methods.

关 键 词：链式系统 移动机器人 非完整系统 稳定性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]