论文部分内容阅读
针对考虑模型不确定性因素影响及控制输入约束的轮式移动机器人的轨迹跟踪问题,文章提出了一种具有控制输入约束的轨迹跟踪最优保性能控制器.依据实际机器人与虚拟机器人的相对位姿关系建立轨迹跟踪误差动态模型.采用平衡点线性化方法将非线性形式的轨迹跟踪误差动态模型转换为线性形式的轨迹跟踪误差动态模型.通过线性矩阵不等式处理方法,给出了具有鲁棒性能上界的最优保性能控制器的存在条件及设计方法.仿真及实验结果表明,文章所提控制器能较好抑制模型不确定性的影响,提高移动机器人的轨迹跟踪性能和鲁棒性.
In order to solve the trajectory tracking problem of wheeled mobile robots with uncertainties and control input constraints, this paper proposes a trajectory tracking optimal guaranteed cost controller with control input constraints. Based on the relative position of actual robot and virtual robot The dynamic model of trajectory tracking error is established, and the dynamic model of trajectory tracking error in nonlinear form is converted to the dynamic model of trajectory tracking error in linear form by means of equilibrium point linearization method. The robust performance The existence condition and design method of the optimal guaranteed controller for the upper bounds are given.The simulation and experimental results show that the proposed controller can restrain the influence of model uncertainty and improve the trajectory tracking performance and robustness of the mobile robot.