摘要
研究了具有外部扰动的动态模型的非完整移动机器人有限时间跟踪控制问题,介绍了一种有限时间扰动观测器来估计外部扰动.首先,移动机器人的跟踪误差系统被转换成两个子系统:一个三阶子系统和一个二阶子系统.然后,我们分别讨论了这两个子系统,并且设计了连续的有限时间扰动观测器和有限时间跟踪控制律.严格的证明表明了移动机器人可以在有限时间内跟踪上期望的轨迹.仿真例子说明了我们方法的有效性.
Finite time tracking control problem of a nonholonomic wheeled mobile robot in a dynamic model with external disturbances is studied,where a finite time disturbance observer is introduced to estimate the external disturbances.Firstly,the resulting tracking error dynamics is transformed into two subsystems,i.e.,a third-order subsystem and a second-order subsystem for the mobile robot.Secondly,the two subsystems are discussed respectively,continuous finite time disturbance observers and finite time tracking control laws are designed for the mobile robot.Rigorous proof shows that the mobile robot can track the desired trajectory in finite time.Simulation illustrates the effectiveness of our method.
基金
Supported by National Natural Science Foundation of China(61074013)
New Century Excellent Talents in University(NCET-10-0328)
Specialized Research Fund for the Doctoral Program of Higher Education of China(20090092110022)
关键词
有限时间跟踪控制
有限时间扰动观测器
外部扰动
非完整移动机器人
动态模型
finite time tracking control
finite time disturbance observer
external disturbances
nonholonomic mobile robot
dynamic model
