具未知参数的非完整移动机器人自适应镇定

Adaptive Stabilization for Nonholonomic Mobile Robots with Unknown Parameters

针对平面轮式移动机器人,研究了其质心与几何中心不重合时的鲁棒镇定问题。对具有未知参数的运动学模型,利用Lyapunov稳定性理论设计了以独立驱动轮速度为控制输入的新的时变连续自适应镇定控制器。该控制器保证整个系统的状态渐近收敛到零,并利用Barbalat引理对闭环系统的稳定性进行了严格的证明。最后,仿真结果验证了所提出的控制器的有效性。

The robust stabilization of plane wheeled mobile robot whose mass center is not coincidental with the geometrical center is considered. Based on Lyapunov method, a new time-varying continuous adaptive controller is designed for the uncertain kinematic model where the control inputs are the velocities of two driven wheels. The proposed controller stabilizes all the states to the origin asymptotically. The stabilization of the closed-loop system is rigorously proved by Barbalat Lemma. Simulation results are provided to verify the effectiveness of the proposed control law.