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研究不能转化为非完整链式形式的离轴式拖车移动机器人系统当存在了参数不确定的情况下任意一节车体的几何路径跟踪问题。提出了一种基于积分控制的鲁棒控制率。当拖车移动机器人的几何参数不是精确已知,但保持在一定范围内时,该控制率能保证其中任意一节拖车的位置和姿态渐近收敛到期望几何路径上,同时连轴的夹角保持有界。仿真结果证实了控制律的有效性。
The problem of tracking the geometric path of any car body under the condition of uncertain parameters is studied by studying the off-axis trailer mobile robot system that can not be transformed into a non-complete chain form. A robust control rate based on integral control is proposed. When the geometric parameters of the trailer mobile robot are not precisely known but remain within a certain range, the control rate can ensure that the position and attitude of any of the trailer sections converge asymptotically to the desired geometric path while maintaining the included angle Have bound. The simulation results confirm the validity of the control law.