李胜, 马国梁, 胡维礼. 一类不确定非完整移动机器人的时变自适应镇定[J]. 机器人, 2005, 27(1): 10-13,19.
引用本文: 李胜, 马国梁, 胡维礼. 一类不确定非完整移动机器人的时变自适应镇定[J]. 机器人, 2005, 27(1): 10-13,19.
LI Sheng, MA Guo-liang, HU Wei-li. Time-varying Adaptive Stabilization of an Uncertain Nonholonomic Mobile Robot[J]. ROBOT, 2005, 27(1): 10-13,19.
Citation: LI Sheng, MA Guo-liang, HU Wei-li. Time-varying Adaptive Stabilization of an Uncertain Nonholonomic Mobile Robot[J]. ROBOT, 2005, 27(1): 10-13,19.

一类不确定非完整移动机器人的时变自适应镇定

Time-varying Adaptive Stabilization of an Uncertain Nonholonomic Mobile Robot

  • 摘要: 通过对质心和几何中心不重合情况下两轮驱动移动机器人镇定问题的研究,提出了一种光滑时变控制律,并针对质心和几何中心距离参数未知的情况,利用自适应技术对其进行了修正.证明了所提出的控制律可使该类型移动机器人的位姿从任意的初始状态指数收敛到原点.仿真试验验证了本文所提出控制律的有效性.

     

    Abstract: In this paper, a smooth time-varying controller is proposed for the stabilization of a mobile robot with driven wheels under the condition that there is a distance between the mass center and the geometrical center. And an adaptive feedback controller is also proposed for the case that this distance is uncertain. It is proved that the proposed controller can exponentially stabilize the wheeled mobile robot from any initial state to the origin. The simulation results show the efficacy of the proposed controller.

     

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