多转向驱动拖挂式移动机器人镇定控制

Stabilization of Multi-steering Tractor-trailer Mobile Robot

研究一类特殊的移动机器人系统-多转向驱动拖挂式移动机器人(Multi-steering tractor-trailer mobile robot,MSTTMR)的镇定控制问题.首先,通过状态坐标变换和控制输入变换将具有任意节车体的多转向驱动系统的运动学模型转化为多输入幂式形式;然后,基于幂式形式设计一种ρ指数级收敛的镇定控制器,并证明其稳定性.针对两车体系统的镇定控制仿真表明该方法的有效性.

The problem of the set point stabilization for multi-steering tractor-trailer mobile robot （MSTTMR） which is a kind of special mechanical system is addressed. By the states and inputs transformation, the kinematics of the system with n steering trailers is converted into the multi-input power form. Based on the power form, a controller giving ρ-exponential convergence is designed to stabilize the original system and the stability of the controller is proved. A set of simulations for two-body MSTTMR is presented to show the validity of the proposed approach.