摘要
针对神经动力学模型描述的非完整移动机器人系统,研究了其在未知参数和不确定性干扰下的轨迹跟踪控制问题。基于反演技术提出了一种转矩控制器,利用Lyapunov稳定性理论和中间虚拟控制量保证跟踪误差渐进收敛到零。不但能够得到稳定跟踪所需速度,并且有效解决了不确定非完整移动机器人动力学系统的轨迹跟踪问题,具有设计方法简单,鲁棒性强的特点。仿真结果验证了所设计的控制器的有效性和正确性。
The trajectory tracking control problem for the nervous dynamic model of nonholonomic mobile robot is discussed even in the presence of unknown parameters and bounded uncertainties.Using backstepping technique,a kind of control structure is presented in this paper.h is an integration of kinematic control and torque controller,and the controller design using the Lyapunov theory, and virtual control inputs ensures the asymptotic zeroing of the stabilization error.The validity and effectiveness of the proposed tracking controller and the velocity for stable tracking can be satisfied simultaneously.The control which obtains via the simple method has the strong robustness.Simulation results are provided to illustrate the flexibility and correctness of the controller.
出处
《微计算机信息》
2009年第20期178-179,184,共3页
Control & Automation
关键词
非完整系统
移动机器人
轨迹跟踪
反演技术
神经动力学建模
nonholonomic system
mobile robot
trajectory tracking
backstepping technique
nervous dynamic model
