摘要
研究由动力学模型描述的轮式移动机器人的点镇定问题。首先建立极坐标系下系统方程,进而给出运动学控制器设计方法,再结合系统的动力学特性,利用Lyapunov方法和反步法将运动学控制器拓展到动力学,最终设计出光滑的控制律并保证系统变量渐近收敛到零。仿真结果表明该方法的可行性和有效性。
The point stabilizaion of the dynamic model of wheeled mobile robots was discussed. First, the system equation was established in polar coordinates and the designing methods of kinematic controller are obtained. Next, the kinematic controller was prolongated to dynamic controller through Lyapunov methods and backstepping together with the characteristics of systems. The smooth control laws were designed and the variations are ensured to asymptotic convergence. The simulation results show the feasibility and effectiveness of the control method.
出处
《中国海洋大学学报（自然科学版）》
CAS
CSCD
北大核心
2014年第8期103-107,共5页
Periodical of Ocean University of China
基金
国家自然科学基金项目(61074092)
山东省自然科学基金项目(ZR2010FM019)资助
关键词
轮式移动机器人
点镇定
极坐标
李亚普诺夫函数
反步法
wheeled mobile robots
point stabilization
polar coordinates
Lyapunov function
backstepping
