| 一类不确定非完整移动机械臂的鲁棒镇定 |
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| 引用本文： | 吴玉香, 胡跃明.一类不确定非完整移动机械臂的鲁棒镇定[J].控制与决策,2006,21(11):1289-1292. |
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| 作者姓名： | 吴玉香 胡跃明 |
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| 作者单位： | 华南理工大学,自动化科学与工程学院,广州,510641 |
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| 摘 要： | 讨论了一类带有未知惯性参数，未建模动态及外界干扰的非完整动力学系统的鲁棒镇定问题．基于滑模控制思想及非完整运动学系统的镇定策略，给出了该类系统的鲁棒镇定方法．将其用于一类不确定非完整移动机械臂的鲁棒镇定分析，仿真结果验证了所提出控制方法的正确有效性．
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| 关 键 词： | 非完整约束 不确定非线性系统 鲁棒镇定 移动机械臂 |
| 文章编号： | 1001-0920（2006）11-1289-04 |
| 收稿时间： | 2005-07-26 |
| 修稿时间： | 2005-07-262006-01-17 |
Robust Stabilization of Uncertain Nonholonomic Mobile Manipulators |
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| WU Yu-xiang,HU Yue-ming.Robust Stabilization of Uncertain Nonholonomic Mobile Manipulators[J].Control and Decision,2006,21(11):1289-1292. |
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| Authors: | WU Yu-xiang HU Yue-ming |
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| Affiliation: | College of Automation Science and Engineering, South China University of Technology, Guangzhou 510641, China. |
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| Abstract: | The robust stabilization problem of the nonholonomic mobile manipulators with unknown constant inertia parameters, unmodeled dynamics and external disturbances is discussed. The robust stabilization approach is provided based on combining sliding mode control with stabilization strategy of nonbolonomic kinematics system. The approach is used to the robust stabilization analysis of an uncertain nonbolonomic mobile manipulators. The simulation results show the effectiveness of the proposed scheme. |
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| Keywords: | Nonbolonomic constraint Uncertain nonlinear system Robust stabilization Mobile manipulators |
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