| 欠驱动非完整机械系统的鲁棒控制 |
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| 引用本文： | 董文杰,徐文立.欠驱动非完整机械系统的鲁棒控制[J].航空学报,2001,22(6):525-528. |
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| 作者姓名： | 董文杰 徐文立 |
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| 作者单位： | 清华大学自动化系 |
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| 基金项目： | 清华大学 985项目和中国博士后基金资助项目 |
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| 摘 要： | 讨论了一类不确定欠驱动非完整机械系统的跟踪控制问题。基于所定义的误差方程,提出了新的鲁棒控制器。该控制器不但对系统惯性参数的不确定具有鲁棒性,而且保证了系统的跟踪误差渐近趋于零。数字仿真验证了所提出控制器的有效性。
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| 关 键 词： | 非完整系统 不确定系统 鲁棒控制 欠驱动系统控制 |
| 文章编号： | 1000-6893(2001)06-0525-04 |
| 修稿时间： | 2001年2月19日 |
ON CONTROL OF UNDERACTUATED NONHOLONOMIC MECHANICAL SYSTEMS |
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| DONG Wen jie,XU Wen li.ON CONTROL OF UNDERACTUATED NONHOLONOMIC MECHANICAL SYSTEMS[J].Acta Aeronautica et Astronautica Sinica,2001,22(6):525-528. |
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| Authors: | DONG Wen jie XU Wen li |
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| Institution: | Department of Automation, Tsinghua University, Beijing 100084, China |
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| Abstract: | This paper considers the tracking control problem of underactuated nonholonomic mechanical systems with uncertainty. New robust controllers are proposed with the aid of newly proposed tracking errors. The proposed controllers not only are robust with respect to the parameter uncertainty but also ensure the tracking error to asymptotically tend to zero. In order to show effectiveness of the proposed results,the tracking control of a simple nonholonomic mobile robot is discussed. Simulations verify effectiveness of the proposed results. |
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| Keywords: | nonholonomic system uncertain system robust control underactuated system |
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