| 引用本文: | 祝晓才,董国华,胡德文.轮式移动机器人有限时间镇定控制器设计.[J].国防科技大学学报,2006,28(4):121-127.[点击复制] |
| ZHU Xiaocai,DONG Guohua,HU Dewen.Finite-time Stabilization Controller for Wheeled Mobile Robots[J].Journal of National University of Defense Technology,2006,28(4):121-127[点击复制] |
|
| |
|
|
| 本文已被：浏览 6808次 下载 5820次 |
| 轮式移动机器人有限时间镇定控制器设计 |
| 祝晓才, 董国华, 胡德文 |
|
(国防科技大学 机电工程与自动化学院，湖南 长沙 410073)
|
| 摘要: |
| 主要研究了单链链式系统的有限时间镇定问题。通过探讨n维链式系统的潜在线性结构，将其分解成一个标量子系统和一个n-1维线性时变子系统，并证明了该时变子系统在具有时变函数系统矩阵时的能控性。在此基础上，采用分段控制策略，基于终端滑模控制理论设计了不连续反馈镇定控制律，实现了系统的有限时间镇定。最后将该结论应用到非完整轮式移动机器人，仿真结果验证了方法的正确性。 |
| 关键词: 非完整系统 链式系统 轮式移动机器人 有限时间控制 镇定 |
| DOI： |
| 投稿日期：2006-02-18 |
| 基金项目:国家自然科学基金重点项目(60234030)；国家杰出青年科学基金资助项目(60225015)；高校青年教师奖资助项目 |
|
| Finite-time Stabilization Controller for Wheeled Mobile Robots |
| ZHU Xiaocai, DONG Guohua, HU Dewen |
|
(College of Mechatronics Engineering and Automation, National Univ. of Defense Technology, Changsha 410073, China)
|
| Abstract: |
| The finite-time stabilization problem of single chained system is investigated in this paper. The potential linear structure of the n-dimensional chained system is exploited, and then the chained system is divided into a scalar subsystem and a (n-1)-dimensional LTV subsystem. Furthermore, the controllability of the LTV subsystem which has a time-varying function system matrix is proved. Then, a discontinuous feedback control laws is proposed by using the terminal sliding mode control method along with a piecewise control strategy. The chained system is finite-time stabilized due to the finite-time convergence property of the terminal sliding mode. Finally, the proposed strategy is applied to a car-like wheeled mobile robot, and the results are verified by simulations. |
| Keywords: nonholonomic system chained form system wheeled mobile robot finite time control stabilization |
|
|
