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

ROBUST CONTROL OF UNCERTAIN NONHOLONOMIC DYNAMIC SYSTEMS WITH APPLICATION TO MOBILE ROBOT

本文讨论了一类带有未知惯性参数、动静态摩擦及外界干扰的非完整动力学系统的控制问题．基于变结构控制的思想，给出了该系统的镇定方法，使得Ｐｏｍｅｔ［３］关于非完整运动学系统的时变光滑镇定律可推广到相应的带有参数不确定和干扰的动力学系统上．最后，将所得结果应用于一类移动机器人的镇定控制，仿真结果验证了该方法的有效性．

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 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.