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控制受限的非完整轮式移动机器人滚动优化镇定控制

Moving horizon stabilization control of nonholonomic wheeled mobile robots with control input constraints
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摘要 研究了存在控制量约束的非完整轮式移动机器人的镇定控制问题.针对笛卡尔坐标下的机器人动力学模型,选取加权矩阵,给出了滚动优化控制的仿真结果.为了消除位置坐标之间的耦合关系,通过坐标变换获得极坐标下动力学描述并进行了仿真,与笛卡尔坐标系下的结果相比,控制性能有较大的提高. This paper studies the stabilization control of nonholonomic wheeled mobile robots with control input constraints. Firstly,considering the dynamic model under Cartesian coordinate and choosing the weighting matrix, the simulation results of moving horizon control is presented. For canceling the decoupling between position coordinates, the dynamic model under polar coordinate system is obtained by coordinate transformation and simulation is given. Compared with the results under Cartesian coordinate ,the control performance is enhanced.
作者 韩光信 高兴泉
机构地区 吉林化工学院信息与控制工程学院
出处 《吉林化工学院学报》 CAS 2009年第2期62-66,共5页 Journal of Jilin Institute of Chemical Technology
基金 吉林省教育厅"十一五"科技项目:2008-350
关键词 轮式移动机器人 控制输入约束 镇定控制 坐标变换 wheeled mobile robot control input constraint stabilization control coordinate transformation
分类号 TP273 [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14

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吉林化工学院学报
2009年 第2期

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