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考虑执行机构动态的非完整轮式移动机器人镇定控制

Stabilization control for nonholonomic wheeled mobile robots with actuator dynamics considered
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摘要 本文研究了将执行机构动态考虑在内的非完整轮式移动机器人(WMR)的镇定控制问题.在运动学时变镇定控制律的基础上,利用李雅普诺夫方法及Backstepping技术,首先将运动学控制器推广到动力学模型,进一步将驱动电机的动态考虑在内,最后给出了典型镇定控制任务的仿真结果. This paper studies the stabilization control of wheeled mobile robots with the actuator dynamics considered.On the basis of Lyapunov method and backstepping technique,time-varying stabilization control law for kinematic model is backstepped into dynamic model and furthermore actuator dynamics is involved.Finally simulation results for typical stabilization control task are presented.
作者 韩光信
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 2010年第2期42-45,共4页 Journal of Jilin Institute of Chemical Technology
基金 吉林省教育厅"十一.五"科技研究资助项目(2008-350)
关键词 轮式移动机器人 执行器动态 镇定 反步法 wheeled mobile robot actuator dynamics stabilization backstepping
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16

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吉林化工学院学报
2010年 第2期

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