移动机器人的鲁棒自适应控制器设计

对一类满足匹配条件的输入干扰不确定性非完整约束移动机器人,借助无源化设计方法提出了一种饱和鲁棒自适应控制器.该控制器不需要事先确定未知干扰的上界值，它能通过事先定义的逻辑切换方式在线调节未知干扰上界值参数的估计值.通过在控制器中引入饱和函数对控制信号进行平滑处理使得控制过程光滑平稳.从理论上证明了该鲁棒自适应控制器能够保证闭环系统的所有状态有界，并且当未知干扰为零时, 还能够保证闭环系统所有状态渐近稳定.

Robust adaptive controller design for mobile robot

Presented here is a passivity technique used to design a saturated robust adaptive controller for a class of nonholonomic mobile robot subjected to input disturbances and satisfying the matched condition. The controller did not require a priori knowledge on the bounds of the disturbances and can get the estimates of the upper bounds of the disturbances via an on-line switching logic. In the course of the design, a saturated function was introduced to make the control law continuous and smooth. It was proved that the robust adaptive controller developed in this paper can guarantee that all states of the closed-loop mobile robot were bofinded and asymptotically stable when the disturbances equaled zero at the equilibrium point of the open-loop mobile robot.