不确定轮式移动机器人的有限时间镇定控制

Finite-Time Stabilization Control of Uncertain Wheeled Mobile Robot

提出一种不确定非完整n维单链系统全局有限时间镇定控制器的设计方法.该方法将单链系统分解为一个一阶子系统和一个n-1阶子系统,并采用一种输入状态不连续变换实现两个子系统的解耦,然后基于有限时间Lyapunov函数法对两个子系统分别进行控制器设计,保证不确定系统的稳定和有限时间收敛.此外,对n-1阶子系统的控制器设计还结合了递归设计方法,并利用切换控制策略,使得解耦后的n-1阶子系统不存在奇异,保证控制器的全局稳定性.最后将该控制器应用于一类不确定非完整轮式移动机器人,仿真结果证明了该控制器的有效性.

In this paper,a design method of the global finite-time stabilization controller is proposed for the uncertain n-dimensional nonholonomic single chain system.In this method,the single chain system is divided into a firstorder subsystem and an （n-1）-order subsystem,and they are decoupled by means of the input-state-scaling technique.Then,the controller of each subsystem is separately designed by means of the finite-time Lyapunov function method,thus guaranteeing the stability and finite-time convergence of the uncertain system.Moreover,the recursive design method is also adopted in the controller design of the （n-1）-order subsystem,and the switching control strategy is used to eliminate the singularity of the （n-1）-order subsystem,thus ensuring the global stability of the controller.Finally,the controller is applied to a kind of uncertain nonholonomic wheeled mobile robot.Simulation results show that the controller is effective.