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移动机器人数学模型的近似线性化

Study on approximate linearization and stabilization via state feedback for WMR math model
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摘要 针对机器人控制领域中一类多输入多输出(MIMO)仿射非线性系统,提出了一种基于平衡流形的近似线性化状态反馈镇定算法,并用此算法解决了一类完整约束轮式移动机器人(WMR)的镇定问题.仿真分析表明,此方法不仅能够实现系统的镇定,而且降低了因平衡工作点变动给系统稳定性带来的影响,同时也大大地简化了对非线性系统的综合设计过程,具有良好的控制效果和实用性. Aiming at a MIMO nonlinear system within the domain of robust controlling,an approximate (linearizing) stability via state feedback algorithm based on balanced flow pattern is proposed to solve the (stability) problem for a mobile robot with holonomic constraints.Simulation analyses show that this (algorithm) can not only realize the system stability,but also decrease the influence caused by the fluctuation with balanced point.In addition,it can simplify the synthesis design process for a nonlinear system.The (simulation) results demonstrate the efficiency and the practicability of the method.
作者 姜勇 孙茂相 董再励
机构地区 沈阳工业大学信息科学与工程学院 中国科学院沈阳自动化研究所机器人学重点实验室
出处 《沈阳工业大学学报》 EI CAS 2005年第2期200-204,共5页 Journal of Shenyang University of Technology
基金 清华大学智能技术与系统国家重点实验室资助(0101) 中国科学院沈阳自动化研究所机器人学重点实验室资助(RL200110)
关键词 近似线性化 平衡流形 状态反馈镇定 李括号 完整约束 移动机器人 approximate linearization balanced flow pattern stabilization via state feedback Li brackets holonomic constraints mobile robot
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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参考文献10

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二级参考文献4

  • 1Dong Sun, James k Mills. Adaptivv learning control of robotic system with model uncertainty[A]. Proceedings of the 1998 IEEE International Conf[C]. on Robotics & Automation, 1998.1847 -1853.
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沈阳工业大学学报
2005年 第2期

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