一类不确定非完整机器人的不连续自适应镇定

Discontinuous adaptive stabilization of uncertain nonholonomic mobile robot

通过对一类质心和几何中心不重合的两轮驱动移动机器人镇定问题的研究,提出一种不连续控制律,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修正,利用非线性系统反馈线性化的方法,证明了所提出的控制律,能使该类型移动机器人的位姿从任意0θ≠0的初始状态指数收敛到原点.利用仿真实验验证了控制律的有效性.

Aimed at the stabilization of a two-driven wheeled mobile robot that there is a distance between the mass center and the geometrical center, a discontinuous controller is proposed. And aimed at the case that the distance between the mass center and the geometrical center is uncertain, the proposed controller is improved through adaptive technology. Using the feedback linearization method of the nonlinear system, it is proved that the proposed controller can exponentially stabilize the wheeled mobile robot from any initial state where θ0 # 0 to the origin. The simulation resuhs show the efficectiveness of the proposed controller.