非完整移动机器人的有限时间跟踪控制算法研究

对非完整移动机器人的有限时间轨迹跟踪控制问题进行讨论．与基于非连续状态反馈的传统有限时间控制算法相比，基于连续状态反馈的有限时间控制算法更适合于控制工程应用．利用该连续系统有限时间控制技术，设计一种连续的状态反馈跟踪控制算法．使得对角速度为非零常数的期望轨迹，非完整移动机器人能够实现全局跟踪，并能在有限时间内完全跟踪上期望轨迹．仿真结果表明了该方法的有效性．

Finite Time Tracking Control Algorithm for Nonholonomic Mobile Robots

The finite-time trajectory tracking control problem of a nonholonomic mobile robot is discussed. In contract to traditional finite time control algorithms based on non-continuous feedbacks, the finite time control algorithms based on continuous feedbacks are more suitable for application to control engineering. Using finite time control techniques for continuous systems, a continuous state feedback control law for trajectory tracking is developed. The proposed control law can guarantee that the mobile robot will track the desired trajectory in the global sense as well as in finite time when the desired rotate velocity is a nonzero constant. Simulation results show the effectiveness of the method.