王朝立, 霍伟. 一类不确定非完整动力学系统的鲁棒镇定及其在移动机器人中的应用[J]. 机器人, 1998, 20(6): 442-448..
WANG Chaoli, HUO Wei. ROBUST CONTROL OF UNCERTAIN NONHOLONOMIC DYNAMIC SYSTEMS WITH APPLICATION TO MOBILE ROBOT. ROBOT, 1998, 20(6): 442-448..
Abstract：This paper studies the control problem of nonholonomic dynamic systems with unknown inertia parameters, dynamic and static friction terms and other disturbances. The approach to stabilize the systems are given based on the variable structure control, which can extend the stabilization law[3] for the driftless nonlinecr control system to the corresponding nonholonomic-dynamic system with unknown parameters and disturbance.Finally,the proposed result is used to stabilize a mobile robot. Simulation result shows that the approach is effective.
1 Brockett R W.Asymptotic Stability and Feedback Stabilization.In Differenticl Geometric Control Theory,1983:181～208 2 Teel C,Murrcy R,Walsh G.Nonholonomic Control Systems:From Steering to Stabilization with Sinusoids.In Proc 31st IEEE Conf on Decision and Control,1992:1603～1609 3 Pomet J P.Explicit Design of Time Varying Stabilizing Control Laws for a Class of Controllable Systems Without Drift.Systems and Control Letters,1992,18:147～158 4 Kolmcnovsky I,McClamroch H.Hybrid Feedback Laws for a Class of Cascade Nolinear Control Systems.IEEE Trans on Automatic Control,1996,41:1271～1282 5 Campion G,d’andrec-Novel B,Bastin G.Controllability and State Feedback Stabilizability of Nonholonomic Mechanical Systems.In C Canudas de Wit,ed.Advanced Robot Control,New York,Springer-Verlag,1991:106～124
