| 一类不确定非完整动力学系统的鲁棒控制 |
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| 引用本文： | 王朝立,霍伟.一类不确定非完整动力学系统的鲁棒控制[J].航空学报,1998,19(Z1):14-19. |
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| 作者姓名： | 王朝立 霍伟 |
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| 作者单位： | 北京航空航天大学第7 研究室, 北京, 100083 |
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| 摘 要： | 研究一类带有未知惯性参数、动静态摩擦及外界干扰的非完整动力学系统的鲁棒控制问题。基于齐次展开的思想，给出了一种鲁棒控制器设计方法，使得闭环系统的广义位置坐标指数镇定，广义速度渐近镇定。将所提出的方法应用于一类移动机器人的镇定控制，仿真结果验证了该方法的有效性
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| 关 键 词： | 非完整动力学系统 齐次扩张 鲁棒控制 移动机器人 |
ROBUST CONTROL OF UNCERTAIN NONHOLONOMIC DYNAMIC SYSTEMS |
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| Wang Chaoli,Huo Wei.ROBUST CONTROL OF UNCERTAIN NONHOLONOMIC DYNAMIC SYSTEMS[J].Acta Aeronautica et Astronautica Sinica,1998,19(Z1):14-19. |
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| Authors: | Wang Chaoli Huo Wei |
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| Institution: | The Seventh Research Division, Beijing University of Aeronautics and Astronautics, Beijing,100083 |
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| Abstract: | This paper investigates the robust control problem of nonholonomic dynamic systems with unknown inertia parameters, dynamic and static frictions, as well as other disturbances. Based on homogeneous approximation, a robust control law is designed, which drives generalized coordinates of the closed loop system to the origin exponentially and generalized velocities to the origin asymptotically. Finally, the proposed result is used to stabilize a mobile robot.Simulation result shows that the approach is effective. |
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| Keywords: | uncer tain nonholonomic dynamic systems homogeneous dilation r obust cont rol wheeled mobile robot |
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