摘要
研究一类具有非完整约束的移动机器人的控制问题 .首先采用一种分段连续状态反馈控制算法实现了系统的渐近稳定 .为了克服控制器在某些点出现奇异性以及由于控制器中所涉及的三角函数的周期性导致解的局部性 ,进一步利用输入 /输出线性化 ,线性近似等方法对控制算法进行了修正 .数值仿真结果表明该算法是有效的 .
This paper deals with the feedback stabilization of a car like mobile robot around an equilibrium. Based on feedback linearization and state feedback, we propose a piecewise continuous control law by dividing the system into two subsystems. The modification of the controller is also carried out to eliminate the singularity of the control at some points due to the periodicity of trigonometric function involved in the control law, and thus ensure the global stability of the closed loop system. Finally, numerical simulation results are presented to illustrate the efficiency of the proposed approach.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2000年第3期358-362,共5页
Control Theory & Applications
基金
Foundationitem :supported by the National 863Plan (980 5 - 1 9) theNationalNaturalScience Foundation of China (699740 15)andtheG
关键词
移动机器人
反馈线性化
分段连续控制
mobile robots
nonholonomic constraints
feedback linearization
piecewise control
