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基于视觉反馈和非完整(1,2)型移动机器人的标准链式形式,探讨了具有不校准视觉参数的机器人的鲁棒镇定问题,得到了这种机器人在图像平面内新的非完整运动学系统的不确定链式模型.借助于状态缩放和切换技术,对非完整不确定链式模型提出了新的指数镇定的时变反馈控制器,并给出了指数镇定的严格证明.仿真结果验证了控制器设计的有效性.
Based on the standard chained form of visual feedback and nonholonomic (1,2) mobile robots, the problem of robust stabilization of robots with uncorrected visual parameters is discussed. The new nonholonomic kinematics of the robot in the image plane is obtained. System, a new chaotic time-varying feedback controller for exponential stabilization of nonholonomic uncertain chain models is proposed by means of state scaling and switching techniques, and a strict proof of exponential stabilization is given. Simulation results verify The effectiveness of controller design.