| 不确定非完整链式系统的鲁棒镇定 |
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| 引用本文： | 梁振英, 王朝立. 不确定非完整链式系统的鲁棒镇定. 自动化学报, 2011, 37(2): 129-142. doi: 10.3724/SP.J.1004.2011.00129 |
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| 作者姓名： | 梁振英 王朝立 |
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| 作者单位： | 1.上海理工大学管理学院 上海 200093;;2.山东理工大学理学院 淄博 255049;;3.上海理工大学光电信息与计算机工程学院 上海 200093 |
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| 基金项目： | Supported by National Natural Science Foundation of China(60874002); Key Project of Shanghai Education Committee(09ZZ158); Leading Academic Discipline Project of Shanghai Municipal Government(S30501); Innovation Fund Project For Graduate Student of Shanghai(JWCXSL1001) |
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| 摘 要： | 不确定非完整链式系统的镇定问题在过去十年中得到了许多有趣的结果, 涌现出了几类模型和相应的控制方法. 目前已经可以对这方面的发展做出总结. 本文给出了非完整链式系统的模型、镇定控制方法和一些结论, 特别是基于视觉传感器得到了一些新的有趣的不确定链式模型. 同时, 利用新的二步法、视觉反馈、状态缩放变换和切换等技术设计了新的不确定链式模型的鲁棒镇定控制器. 希望这项工作可以做到抛砖引玉, 也可以为这个领域的专家做一个较好的参考.
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| 关 键 词： | 非完整 运动学 移动机器人 不确定链式系统 |
| 收稿时间： | 2009-08-10 |
| 修稿时间： | 2010-09-08 |
Robust Stabilization of Nonholonomic Chained Form Systems with Uncertainties |
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| LIANG Zhen-Ying, WANG Chao-Li. Robust Stabilization of Nonholonomic Chained Form Systems with Uncertainties. ACTA AUTOMATICA SINICA, 2011, 37(2): 129-142. doi: 10.3724/SP.J.1004.2011.00129 |
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| Authors: | LIANG Zhen-Ying WANG Chao-Li |
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| Affiliation: | 1. Business School, University of Shanghai for Science and Technology, Shanghai 200093, P.R. China;;;2. School of Science, Shandong University of Technology, Zibo 255049, P.R. China;;;3. School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, P.R. China |
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| Abstract: | A summary of recent developments concerning robust stabilization problems for the nonholonomic chained form systems with uncertainties is provided. Firstly, various models, main approaches, and results over past ten years for the uncertain chained form systems are presented. Then, several new exciting uncertain chained form models of special interest are proposed for the nonholonomic wheeled mobile robots. They are obtained by using the state and input transformations based on the visual servoing feedback. Finally, the novel robust regulation controllers are addressed for some new uncertain chained models by using two-steps technology, visual feedback, state-scaling and switching strategy. It is expected that this investigation will provide a good introduction about the development of robust stabilization for uncertain chained form systems. |
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| Keywords: | Nonholonomic kinematic mobile robot uncertain chained system |
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