具有未知参数的机器人-摄像机系统的自适应动态反馈跟踪控制（英文）  

Adaptive Dynamic Feedback Tracking Control for a Robot-camera System with Unknown Parameters

作　　者：梁振英 王朝立 陈华 李彩虹 LIANG Zhen-Ying WANG Chao-Li CHEN Hua LI Cai-Hong(School of Science, Shandong University of Technology,Optical-Electrical and Computer Engineering Department, University of Shanghai for Science and Technology,Mathematics and Physics Department, Hohai University, Changzhou Campus,School of Computer Science and Technology, Shandong University of Technolog)

机构地区：[1]School of Science, Shandong University of Technology [2]Optical-Electrical and Computer Engineering Department, University of Shanghai for Science and Technology [3]Mathematics and Physics Department, Hohai University, Changzhou Campus [4]School of Computer Science and Technology, Shandong University of Technology

出　　处：《自动化学报》2016年第10期1595-1604,共10页Acta Automatica Sinica

基　　金：Supported by National Natural Science Foundation of China(61374040,61304004,61473179);Scientific Innovation Program(13Z Z115);Hujiang Foundation of China(C14002);Graduate Innovation Program of Shanghai(54-13-302-102);and the Natural Science Foundation of Shandong Province(ZR2013FM012,ZR2014FM007)

摘　　要：The tracking problem of nonholonomic mobile robots with uncertainties is investigated in this paper. An uncertain model of the nonholonomic kinematic system is presented based on the visual feedback and the state and input transformations for a kind of mobile robots in chained form with uncertainties. Two transformations are exploited based on the idea of backstepping and the structure of tracking error system. Then, both an adaptive control law and a dynamic feedback robust controller are designed to track the desired trajectory by using Lyapunov direct method and the extended Barbalat Lemma. The asymptotic convergence of a closed-loop error system is proved rigorously. Finally, simulation results demonstrate the effectiveness of the proposed strategies.The tracking problem of nonholonomic mobile robots with uncertainties is investigated in this paper. An uncertain model of the nonholonomic kinematic system is presented based on the visual feedback and the state and input transformations for a kind of mobile robots in chained form with uncertainties. Two transformations are exploited based on the idea of backstepping and the structure of tracking error system. Then, both an adaptive control law and a dynamic feedback robust controller are designed to track the desired trajectory by using Lyapunov direct method and the extended Barbalat Lemma. The asymptotic convergence of a closed-loop error system is proved rigorously. Finally, simulation results demonstrate the effectiveness of the proposed strategies.

关 键 词：非完整移动机器人 自适应控制法 跟踪控制 动态反馈 相机系统 Lyapunov直接方法 不确定性模型 误差系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP27[自动化与计算机技术—控制科学与工程]