| 基于视觉伺服非完整移动机器人的有限时间饱和镇定 |
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| 引用本文： | 陈华,王朝立,杨芳,许维东. 基于视觉伺服非完整移动机器人的有限时间饱和镇定[J]. 控制理论与应用, 2012, 29(6): 817-823 |
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| 作者姓名： | 陈华 王朝立 杨芳 许维东 |
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| 作者单位： | 1. 上海理工大学控制科学与工程系,上海200093;河海大学数理部,江苏常州213022
2. 上海理工大学控制科学与工程系,上海,200093 |
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| 基金项目： | 国家自然科学基金资助项目(60874002); 上海市重点学科资助项目(S30501); 河海大学中央高校基本科研业务费资助项目(2010B23514); 浙江省教育厅资助项目(Y201016188). |
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| 摘 要： | 对视觉伺服反馈的一类类非完整移动机器人,提出在视觉参数不确定下的有限时间饱和镇定问题.运用多步控制策略和有限时间稳定性理论,设计分段连续的饱和控制律使得闭环系统的状态在有限时间内收敛到平衡点.仿真结果验证了该方法的有效性.
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| 关 键 词： | 视觉伺服 非完整移动机器人 有限时间镇定 输入饱和 |
| 收稿时间： | 2011-06-18 |
| 修稿时间： | 2011-12-27 |
Finite-time saturated stabilization of nonholonomic mobile robots based on visual servoing |
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| CHEN Hu,WANG Chao-li,YANG Fang and XU Wei-dong. Finite-time saturated stabilization of nonholonomic mobile robots based on visual servoing[J]. Control Theory & Applications, 2012, 29(6): 817-823 |
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| Authors: | CHEN Hu WANG Chao-li YANG Fang XU Wei-dong |
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| Affiliation: | Control Science and Engineering Department, University of Shanghai for Science and Technology; Mathematics and Physics Department, Hohai University,Control Science and Engineering Department, University of Shanghai for Science and Technology,Control Science and Engineering Department, University of Shanghai for Science and Technology,Control Science and Engineering Department, University of Shanghai for Science and Technology |
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| Abstract: | The saturated finite-time stabilization problem is considered in this paper for a class of nonholonomic mobile robots based on visual servoing with uncertain camera parameters. By applying the multi-step control strategy and the theory of finite-time stability, a piecewise continuous and saturated control law is presented, which can stabilize the closedloop system to the origin equilibrium point in a finite time. Finally, the simulation results show the effectiveness of the proposed control design approach. |
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| Keywords: | visual servoing nonholonomic mobile robots finite-time stabilization inputs saturation |
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