| 参数不确定移动小车的鲁棒镇定 |
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| 引用本文： | 马保离. 参数不确定移动小车的鲁棒镇定. 自动化学报, 2005, 31(2): 314-319. |
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| 作者姓名： | 马保离 |
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| 作者单位： | 1.The Seventh Research Division, Beijing University of Aeronautics and Astronautics, Beijing 100083 |
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| 摘 要： | For regulating the dynamic nonholonomic mobile cart with parameter uncertainties, a time-varying robust control law is derived to yield globally exponential convergence of cart0s position and orientation to the desired set point. The controller design relies on converting the cart0s dynamics to an advantageous form, and the robust linear feedback control laws steer the cart0s position and orientation errors to zero exponentially. Simulation results show the effectiveness of the proposed control law.
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| 关 键 词： | Nonholonomic mobile cart robust stabilization smooth time-varying control parameter uncertainties |
| 收稿时间： | 2003-09-22 |
| 修稿时间： | 2004-06-17 |
Robust Smooth Time-varying Exponential Stabilization of Dynamic Nonholonomic Mobile Cart with Parameter Uncertainties |
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| MA Bao-Li. Robust Smooth Time-varying Exponential Stabilization of Dynamic Nonholonomic Mobile Cart with Parameter Uncertainties. ACTA AUTOMATICA SINICA, 2005, 31(2): 314-319. |
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| Authors: | MA Bao-Li |
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| Affiliation: | 1. The Seventh Research Division, Beijing University of Aeronautics and Astronautics, Beijing 100083 |
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| Abstract: | For regulating the dynamic nonholonomic mobile cart with parameter uncertainties, a time-varying robust control law is derived to yield globally exponential convergence of cart0s position and orientation to the desired set point. The controller design relies on converting the cart0s dynamics to an advantageous form, and the robust linear feedback control laws steer the cart0s position and orientation errors to zero exponentially. Simulation results show the effectiveness of the proposed control law. |
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| Keywords: | Nonholonomic mobile cart robust stabilization smooth time-varying control parameter uncertainties |
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