基于“非伪”理论的非完整移动机器人轨迹跟踪控制

"非伪"控制是一种基于数据驱动的无模型控制方法,它根据输入-输出数据进行在线学习,计算与当前系统状态相匹配的控制量并作用于系统,以获得系统所要求的动静态品质,并以此检验系统是否满足该性能指标.基于"非伪"控制理论,研究了移动机器人的轨迹跟踪控制问题.根据非完整移动机器人的动态方程,采用"非伪"控制,直接作用于移动机器人的控制输入,使移动机器人能快速、准确地跟踪期望轨迹.

Trajectory tracking control of nonholonomic mobile robot systems based on unfalsified control theory

The unfalsified control is a type of data-driven, model free control method. Based on input-output data online
computing and learning controlled variable to match current system states and acting on system, the dynamic and static
quality of system requiring can be acquired which is used to test whether it satisfies performance index. Furthermore, based
on unfalsified control theory, the problem of trajectory tracking control of mobile robot is analyzed. Finally, by adopting
unfalsified control strategy to nonholonomic dynamic system directly, tracking desired trajectory is achieved rapidly and
accurately.