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不校准视觉参数的非完整运动学系统的鲁棒指数镇定 被引量：6

Robust exponential stabilization of nonholonomic kinematic systems with uncalibrated visual parameters
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摘要 基于视觉反馈和非完整(1,2)型移动机器人的标准链式形式,探讨了具有不校准视觉参数的机器人的鲁棒镇定问题,得到了这种机器人在图像平面内新的非完整运动学系统的不确定链式模型.借助于状态缩放和切换技术,对非完整不确定链式模型提出了新的指数镇定的时变反馈控制器,并给出了指数镇定的严格证明.仿真结果验证了控制器设计的有效性. The visual servoing stabilization of nonholonomic mobile robots with uncertain camera parameters is investigated based on the visual feedback and the common chained form of type（1,2）mobile robot.A new uncertain model of nonholonomic kinematic systems in the image plane for this kind of robots is obtained,which is a chained form with uncalibrated visual parameters.A novel time varying feedback controller is proposed for exponentially stabilizing the nonholonomic chained system with unknown parameters with help of state-scaling and switching technique.The exponential stability of the closed loop system is rigorously proved.Simulation results show the effectiveness of the proposed methods.
作者 梁振英 王朝立
机构地区 上海理工大学管理学院 山东理工大学理学院 上海理工大学光电学院
出处 《控制与决策》 EI CSCD 北大核心 2011年第7期998-1003,共6页 Control and Decision
基金 国家自然科学基金项目(60874002) 上海市教委重点科技创新项目(09ZZ158) 上海市重点学科项目(S30501) 上海市研究生创新基金项目(JWCXSL1001)
关键词 非完整系统 链式形式 镇定 移动机器人 nonholonomic system chained form stabilization mobile robol
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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同被引文献38

  • 1Chaoli WANG 1 , Zhenying LIANG 2 , 3 , Qingwei JIA 4 (1.Department of Control Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China,2.Business School, University of Shanghai for Science and Technology, Shanghai 200093, China,3.School of Science, Shandong University of Technology, Zibo Shandong 255049, China,4.Research & Development Centre, Hitachi Asia Ltd, Hitachi Tower, Singapore 049318).Dynamic feedback robust stabilization of nonholonomic mobile robots based on visual servoing[J].控制理论与应用（英文版）,2010,8(2):139-144. 被引量：13
  • 2吴玉香,胡跃明.一类不确定非完整移动机械臂的鲁棒镇定[J].控制与决策,2006,21(11):1289-1292. 被引量：4
  • 3WANG Qiang-De,WEI Chun-Ling.Robust Adaptive Control of Nonholonomic Systems with Nonlinear Parameterization[J].自动化学报,2007,33(4):399-403. 被引量：6
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控制与决策
2011年 第7期

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