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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。
Due to the existence of nonholonomic constraints in the towed mobile robot system, there is no continuous asymptotic stable control method for the feedback stabilization control problem. To solve this problem, a discontinuous feedback stabilization Control Method. First of all, the control characteristics of the system are analyzed. It is proved that there is no stable smooth time-invariant feedback control for the system’s shape control problem. Then, the system is transformed into the link form by using the coordinate and input transformation. Based on the chain system, High-order sliding mode design of a non-continuous control method. The numerical simulation results show that this control method can control the trailing mobile robot to be stable in a given position for a limited time.