| 引用本文: | 何战斌,马保离.离轴式拖车移动机器人的反馈镇定[J].控制理论与应用,2009,26(7):758~762.[点击复制] |
| HE Zhan-bin,MA Bao-li.Feedback stabilization of tractor-trailers with off-axle hatching[J].Control Theory and Technology,2009,26(7):758~762.[点击复制] |
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| 离轴式拖车移动机器人的反馈镇定 |
| Feedback stabilization of tractor-trailers with off-axle hatching |
| 摘要点击 2302 全文点击 1200 投稿时间：2006-08-07 修订日期：2009-01-16 |
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| DOI编号 10.7641/j.issn.1000-8152.2009.7.009 |
| 2009,26(7):758-762 |
| 中文关键词 离轴式拖车 时间–状态能控形 反馈镇定 |
| 英文关键词 tractor-trailers with off-axle hitching time-state control form feedback stabilization |
| 基金项目 国家自然科学基金资助项目(60874012,60334030); 北京市教育委员会共建项目专项资助项目(XK100060422). |
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| 中文摘要 |
| 由于离轴式拖车移动机器人的模型不能转化为非完整链式模型, 因而无法采用针对非完整链式模型的控制方法. 针对有多节离轴式拖车的移动机器人, 给出了一种基于时间–状态能控形的反馈镇定控制算法. 首先推导出系统的线性化时间–状态模型, 并证明了其能控性; 进而设计了一种线性切换反馈镇定控制律, 该控制律可以保证系统的状态在有限时间内收敛到原点的任意小邻域内. 仿真结果证实了所提控制算法的有效性. |
| 英文摘要 |
| Because the model of the tractor-trailers with off-axle hitching can not be converted to the model of nonholonomic chained form, previously developed control schemes for the latter can not be applied to the former. In this work, a feedback stabilizing control scheme in a time-state controllable form is proposed for the tractor-trailers towing several off-hooked trailers. The linearized time-state form of the system model is derived and proved to be controllable; a switching linear feedback stabilizing control law is then designed to stabilize the states to converge to an arbitrary small neighborhood of origin in a finite time. Simulation results show the effectiveness of the proposed control scheme. |