控制受限的移动机器人鲁棒跟踪控制器设计

研究了非完整移动机器人动力学模型中带有参数不确定和控制受限的鲁棒轨迹跟踪控 制器的设计问题.在建立移动机器人的全动态误差模型的基础上,应用滚动时域控制(RHC)和线 性矩阵不等式(LMIs)方法,设计了鲁棒跟踪控制器,在满足非完整和控制约束的条件下,实现了 机器人位置,导向角以及速度的同时渐近跟踪.系统稳定性的充分条件以LMI的形式给出.仿真 结果验证了提出方法的可行性和有效性.

Robust Trajectory Tracking Controller Design for Mobile Robots with Bounded Input

Designing of robust trajectory tracking controller for mobile robots with parametric uncertainties in the dynamic model and with bounded input is investigated. Based on the established full dynamic error model, a robust tracking controller is designed using receding horizon control (RHC) and linear matrix inequalities (LMIs). Simultaneously asymptotically tracking position, heading angle and velocities of mobile robots is realized in accordance with nonholonomic and input constraints. The sufficient condition of the system stability is given in terms of linear matrix inequalities. Simulation results verify the feasibility and effectiveness of the proposed method.