不确定非完整移动机械手的鲁棒控制

为解决一类系统惯性参数不精确知道且受摩擦力和外界干扰力的不确定非完整移动机械手的跟踪控制问题 ,首先通过消去约束反力 ,将所讨论的控制问题转化成易于解决的等价控制问题 ;然后 ,通过适当的状态变换将系统转化成一种标准型 ;最后 ,利用该标准型的特点提出了解决不确定非完整移动机械手跟踪控制问题的鲁棒控制器。该文所提出的控制器不但能使闭环系统的状态渐近趋于给定的期望轨迹 ,而且具有计算简单的特点。为验证所提出控制律的有效性 ,对一类特殊的不确定移动机械手进行了数字仿真 ,仿真结果验证了所提出控制律的有效性。

Robust control of an uncertain nonholonomic mobile manipulator

This paper analyzes tracking control of a nonholonomic mobile manipulator with parameter uncertainty and disturbances. The tracking control was first reduced to a simplified equivalent tracking control problem whose canonical form was found using a state transformation. A robust controller was then designed for the tracking problem of the uncertain nonholonomic system. The controller ensures that the tracking errors asymptotically converge to zero and is easily implemented. Simulation results with a mobile manipulator showed the effectiveness of the proposed controller.