摘要
由于拖挂式移动机器人系统存在非完整约束,导致系统的反馈镇定控制问题不存在任何连续时不变渐近稳定控制方法,为此基于有限时间高阶滑摸方法提出一种非连续的反馈镇定控制方法。首先分析了系统的控制特性,证明系统的位形控制问题不存在稳定的时不变的光滑的反馈控制;然后利用进行坐标和输入变换,将系统变换为链接形式;基于链式系统利用有限时间高阶滑模设计了一种非连续的控制方法。数值仿真结果表明该控制方法能够在有限时间内控制拖挂式移动机器人稳定在给定位形。
As the trailer mobile robot system has nonholonomic constraints that cause that there is no continuous time-invariant asymp totically stable control method for the feedback stabilization problem of the system. So a non-continuous method based on the finite-time high-order sliding mode is proposed. The system controllability at a configuration is firstly analysieze in this paper. It is shown that there exits no stable time-invarying feedback control for the configuration control problem. Based on the chained form sytem after coor- dinate and input transformation, a discontinuous control method is proposed via high order sliding mode. Numeric simulation results shows that it can stabilize the tractor-trailer mobile robot to the given configuration in finite time.
出处
《控制工程》
CSCD
北大核心
2013年第2期301-304,308,共5页
Control Engineering of China
基金
山东省自然科学基金项目(ZR2009GZ005)
山东省教育厅科技计划项目(J09LG06)
关键词
拖挂式机器人
非完整系统
位形控制
高阶滑模
tractor-trailer robot
nonholonomie system
configuration control
high order sliding mode
