| 引用本文: | 刘毅, 王朝立, 李清松.实际输入饱和的一类非完整运动学系统的镇定[J].控制理论与应用,2007,24(6):909~912.[点击复制] |
| LIU Yi, WANG Chao-li, LI Qing-song.Stabilization of nonholonomic kinematic systems based on practical input saturation[J].Control Theory and Technology,2007,24(6):909~912.[点击复制] |
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| 实际输入饱和的一类非完整运动学系统的镇定 |
| Stabilization of nonholonomic kinematic systems based on practical input saturation |
| 摘要点击 1465 全文点击 1075 投稿时间：2006-04-27 修订日期：2006-12-21 |
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| DOI编号 10.7641/j.issn.1000-8152.2007.6.008 |
| 2007,24(6):909-912 |
| 中文关键词 非完整控制系统 镇定 移动机器人 输入饱和 |
| 英文关键词 nonholonomic control system stabilization robot input saturation |
| 基金项目 国家自然科学基金资助项目(60474009); 上海市曙光计划项目(05SG48); 上海市教委科研项目(F07zz90) |
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| 中文摘要 |
| 对一类非完整移动机器人提出了实际输入饱和下镇定控制器的设计方案. 这种设计不是基于链式系统而是基于原始系统的. 控制器的设计使用了滑模控制和多步控制策略, 并用Lyapunov的思想证明了闭环系统的收敛性. 最后, 用设计的控制器对一类机器人进行了仿真, 验证了方法的有效性. |
| 英文摘要 |
| Stabilizing control schemes are proposed for nonholonomic wheeled-mobile robots with saturated practical inputs. These schemes are given not based on chained forms, but based on original systems. The stabilizing controllers are then investigated by using sliding mode control and multiple step control schemes. The convergence of the closed loop system is also proved by using Lyapunov method. Finally, the simulations are implemented based on the nonholonomic robot with the proposed controller, and the validity of the design is verified. |