| 引用本文: | 胡终须,胡跃明,李 迪,吴忻生,毛宗源.一种关于移动机器人的自适应变结构控制方法(英文)[J].控制理论与应用,2001,18(6):919~924.[点击复制] |
| HU Zhong-xu,HU Yue-ming,LI Di,WU Xin-sheng,MAO Zong-yuan.An Adaptive Variable Structure Control Approach for Mobile Robots[J].Control Theory and Technology,2001,18(6):919~924.[点击复制] |
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| 一种关于移动机器人的自适应变结构控制方法(英文) |
| An Adaptive Variable Structure Control Approach for Mobile Robots |
| 摘要点击 1525 全文点击 1382 投稿时间：1999-04-05 修订日期：2001-03-20 |
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| DOI编号 10.7641/j.issn.1000-8152.2001.6.023 |
| 2001,18(6):919-924 |
| 中文关键词 移动机器人 动态反馈 精确线性化 自适应滑动控制 |
| 英文关键词 mobile robots underactuated nonlinear systems dynamic feedback exact linearization adaptive variable structure control |
| 基金项目 |
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| 中文摘要 |
| 基于具有m个输入、至多m+2个状态变量的可控无漂移系统为微分平面系统这样一个事实, 通过动态扩展原理和自适应控制技术, 本文提出了一种针对三轮移动机器人轨迹跟踪问题的鲁棒自适应控制方法. 应用动态扩展原理首先对三轮移动机器人的运动模型实现了精确线性化, 设计变结构控制时采用了边界层内插方法和在线参数估计以削弱控制抖动. 仿真结果表明该方法优于一般的变结构控制. |
| 英文摘要 |
| This paper addresses the robust tracking of mobile robots with uncertain parameter variations. Based on the fact that a controllable driftless system with m inputs and at most m+2 state variables is a differentially flat system, we develop a robust control approach to the trajectory tracking problem of a three wheel mobile robot via the dynamical extension approach and adaptive variable structure control technique. By applying the dynamical extension approach to the kinematic model of the three wheel mobile robot, the exact linearization of the extended dynamic feedback system is first realized under mild regular condition. In designing the robust control law we adopt the control interpolation in a boundary layer and on line parameter estimation to avoid the control chattering under large parameter uncertainties. Finally, numerical simulations are performed to show the efficiency of the proposed approach. |
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