一类参数不确定非完整移动机器人的鲁棒镇定

研究了一类质心和几何中心不重合的非完整移动机器人的镇定问题,在设计控制器时,考虑了其运动学模型具有参数不确定性.通过自适应方法对质心和几何中心距离进行参数估计;并且针对车轮半径和两驱动轮之间距离参数未知但有界的情形,设计了一种光滑时变控制器; 证明了该控制器能够保证整个闭环系统中的各个状态指数趋于零;为了保证闭环系统的鲁棒性,本文还给出了控制器参数需要满足的一个充分条件.最后,仿真结果验证了该控制器的有效性.

Robust stabilization of nonholonomic mobile robots with parameter uncertainties

The stabilization problem of nonholomic mobile robots whose mass centers are not coincidenctal with the geometrical centers was considered.An adaptive method was proposed to estimate the distance between the mass center and geometrical center,then a smooth time-varying controller,which could exponentially stabilize all the states to the origin,was introduced when some geometric parameters were unknown but bounded,including the radius of wheels and the length of the axle between them.Moreover,a sufficient condition of the controller parameters was given for the robustness.The simulation results showed the effectiveness of the proposed control law.