| 轮式移动机器人全局渐近镇定控制器设计 |
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| 引用本文： | 裴辛哲,裴润,刘志远. 轮式移动机器人全局渐近镇定控制器设计[J]. 系统仿真学报, 2003, 15(8): 1101-1105 |
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| 作者姓名： | 裴辛哲 裴润 刘志远 |
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| 作者单位： | 哈尔滨工业大学控制科学与工程系,哈尔滨,150001 |
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| 基金项目： | 哈尔滨工业大学科学研究基金项目(HIT.2000.40) |
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| 摘 要： | 基于控制Lyapunov函数(Control Lyapunov Function，简称CLF)和一类性能指标，提出了一种轮式移动机器人(WMR)全局渐近镇定控制器的设计方法。采用CLF近似性能指标的值函数，获得了控制仿射无漂系统的镇定控制律表达式。然后将CLF与反步法相结合，针对极坐标下WMR的动态模型，设计了一种渐近镇定控制器，解决了完美速度跟踪的问题。仿真结果验证了所提出控制律的有效性。
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| 关 键 词： | 轮式移动机器人 镇定 控制Lyapunov函数 控制仿射无漂系统 反步法 |
| 文章编号： | 1004-731X(2003)08-1101-05 |
| 修稿时间： | 2002-10-29 |
Design of Global Asymptotic Stabilizing Controllers of Wheeled Mobile Robots |
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| PEI Xin-zhe,PEI Run,LIU Zhi-yuan. Design of Global Asymptotic Stabilizing Controllers of Wheeled Mobile Robots[J]. Journal of System Simulation, 2003, 15(8): 1101-1105 |
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| Authors: | PEI Xin-zhe PEI Run LIU Zhi-yuan |
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| Abstract: | A method of designing a global asymptotic stabilizing controller for wheeled mobile robots (WMR) is proposed based on control Lyapunov function (CLF) and a class of performances. A formulation of the stabilizing control law is obtained for control-affine driftless systems by means of approximating the value function of the performance index by a CLF. And then, an asymptotically stabilizing controller is designed for the dynamic model of WMR in the polar coordinates by combination of CLF and backstepping methods while solving the perfect velocity-tracking problem. Simulation is performed to highlight the effectiveness of the proposed control laws. |
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| Keywords: | wheeled mobile robot stabilization control Lyapunov function control-affine driftless system backstepping |
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