摘要
针对无侧移地面移动机器人的位姿镇定问题提出一种多阶段控制律。在运动学层次上位姿镇定制问题与带落角约束的二维制导问题具有很大的相似性。基于此,在最优制导律的基础上增加对线速度的控制后,可以实现一定初始位姿条件下的位姿镇定控制。对于不满足条件的初始位姿,则增加一个姿态调整阶段,使其达到初始条件。所构造的多阶段控制律可以对任意期望位姿实现控制,并具有能量最省的特性。仿真结果证实该控制律具有较好的控制精度。
A muhi-stage control law is proposed for the setpoint control of driftless groud mobile robots. With certain simplification, the setpoint control can be identified to the 2-dimensional guidance with falling angle constraint. Based on that, the setpoint control is accomplished for certain initial postures by adding a control law on the longitude velocity to the optimal guidance law, provided that the initial postures satisfy a given condition. For those initial postures that do not satisfy the condition, an extra stage for adjustment is proposed. The simulation results show that the proposed control law is component for arbitrary initial postures, and has satisfactory accuracy.
出处
《控制工程》
CSCD
北大核心
2009年第1期88-90,99,共4页
Control Engineering of China
基金
国家自然科学基金资助项目(69975023)
国防科技大学优秀研究生创新基金资助项目(B070304)
关键词
运动控制
地面机器人
非完整系统
motion control
ground mobile robot
nonholonomic system
