欠驱动非完整机械系统的鲁棒控制

ON CONTROL OF UNDERACTUATED NONHOLONOMIC MECHANICAL SYSTEMS

讨论了一类不确定欠驱动非完整机械系统的跟踪控制问题。基于所定义的误差方程 ,提出了新的鲁棒控制器。该控制器不但对系统惯性参数的不确定具有鲁棒性 ,而且保证了系统的跟踪误差渐近趋于零。

This paper considers the tracking control problem of underactuated nonholonomic mechanical systems with uncertainty. New robust controllers are proposed with the aid of newly proposed tracking errors. The proposed controllers not only are robust with respect to the parameter uncertainty but also ensure the tracking error to asymptotically tend to zero. In order to show effectiveness of the proposed results,the tracking control of a simple nonholonomic mobile robot is discussed. Simulations verify effectiveness of the proposed results.