| 基于分段模糊Lyapunov函数的轮式移动机器人轨迹跟踪控制 |
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| 引用本文： | 张佳媛, 李洪波, 刘贺平. 基于分段模糊Lyapunov函数的轮式移动机器人轨迹跟踪控制[J]. 工程科学学报, 2015, 37(7): 955-964. DOI: 10.13374/j.issn2095-9389.2015.07.019 |
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| 作者姓名： | 张佳媛 李洪波 刘贺平 |
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| 作者单位： | 1. 北京科技大学自动化学院, 北京 100083; |
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| 基金项目： | 国家重点基础研究发展计划（973计划）;国家自然科学基金;北京市自然科学基金 |
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| 摘 要： | 研究了具有控制输入约束和外部干扰的轮式移动机器人的轨迹跟踪问题.在轨迹跟踪位姿误差的T-S模型和并行分布补偿框架下,利用分段模糊Lyapunov理论给出了满足控制输入约束的H∞控制器设计方法,并证明了闭环系统的稳定性.仿真结果验证了所提方法的有效性.
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| 关 键 词： | 移动机器人 轨迹 跟踪 模糊控制 LYAPUNOV函数 |
| 收稿时间： | 2014-04-18 |
Trajectory tracking control for wheeled mobile robots based on a piecewise fuzzy Lyapunov function |
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| ZHANG Jia-yuan, LI Hong-bo, LIU He-ping. Trajectory tracking control for wheeled mobile robots based on a piecewise fuzzy Lyapunov function[J]. Chinese Journal of Engineering, 2015, 37(7): 955-964. DOI: 10.13374/j.issn2095-9389.2015.07.019 |
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| Authors: | ZHANG Jia-yuan LI Hong-bo LIU He-ping |
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| Affiliation: | 1. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China;2. Department of Computer Science & Technology, Tsinghua University, Beijing 100084, China |
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| Abstract: | A trajectory tracking problem is investigated for wheeled mobile robots with control input constraints and external disturbances. Firstly,the trajectory tracking posture error model is transformed into a T-S fuzzy model. Under this framework and parallel distributed compensation,a design method of constrained H∞ controllers is developed via the piecewise fuzzy Lyapunov function approach,and the stability conditions of the closed-loop system are also derived. Finally,simulation results are given to illustrate the effectiveness of the proposed method. |
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| Keywords: | mobile robots trajectory tracking fuzzy control Lyapunov function |
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