| 非完整移动机械臂的鲁棒跟踪控制 |
| |
| 引用本文： | 周延霞,吴玉香,胡跃明. 非完整移动机械臂的鲁棒跟踪控制[J]. 计算机工程与应用, 2007, 43(7): 20-22,119 |
| |
| 作者姓名： | 周延霞 吴玉香 胡跃明 |
| |
| 作者单位： | 华南理工大学,自动化科学与工程学院,广州,510641;华南理工大学,自动化科学与工程学院,广州,510641;华南理工大学,自动化科学与工程学院,广州,510641 |
| |
| 摘 要： | 针对非完整移动机械臂惯性参数的不确定性,采用滑模控制为其设计了输出跟踪控制器。首先给出了包括驱动电机动态特性的非完整移动机械臂的简化动态模型,然后通过微分同胚和输入变换将其分解为4个低阶子系统,并给出了其输出跟踪的滑模控制器设计方法。仿真实验表明,所设计的鲁棒控制器能很好地跟踪给定轨迹。
|
| 关 键 词： | 移动机械臂 跟踪控制 电机动态 |
| 文章编号： | 1002-8331（2007）07-0020-03 |
| 修稿时间： | 2006-11-01 |
Robust tracking control of nonholonomic mobile manipulators |
| |
| ZHOU Yan-xia,WU Yu-xiang,HU Yue-ming. Robust tracking control of nonholonomic mobile manipulators[J]. Computer Engineering and Applications, 2007, 43(7): 20-22,119 |
| |
| Authors: | ZHOU Yan-xia WU Yu-xiang HU Yue-ming |
| |
| Affiliation: | College of Automation Science and Engineering,South China University of Technology,Guangzhou 510641 ,China |
| |
| Abstract: | An output tracking controller is devised to achieve output tracking of nonholonomic mobile manipulators with uncertain inertia parameters.The reduced dynamic model including motor dynamics is developed for nonholonomic mobile manipulators.The system is then decomposed into four lower-dimensional subsystems by applying diffeomorphism and nonlinear input transformation to the reduced model.The design of robust controller is also addressed for the output tracking of mobile manipulators.The results of numerical simulation demonstrate that the controller can track the given trajectory primely. |
| |
| Keywords: | mobile manipulators tracking control motor dynamics |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
