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基于具有m个输入、至多m+2个 状态变量的可控无漂移系统为微分平面系统这样一个事实 ,通过动态扩展原理和自适应控制技术 ,本文提出了一种针对三轮移动机器人轨迹跟踪问题的鲁棒自适应控制方法 .应用动态扩展原理首先对三轮移动机器人的运动模型实现了精确线性化 ,设计变结构控制时采用了边界层内插方法和在线参数估计以削弱控制抖动 .仿真结果表明该方法优于一般的变结构控制
Based on the fact that the controllable drift-free system with m inputs and at most m + 2 state variables is a differential planar system, this paper presents a new approach to trajectory tracking of three-wheeled mobile robots based on the dynamic expansion principle and adaptive control technology The robust adaptive control method is applied.Using dynamic expansion principle, the motion model of three-wheeled mobile robot is firstly linearized accurately and the boundary layer interpolation method and on-line parameter estimation are used in the design of variable structure control to weaken the control jitter. It shows that this method is superior to the general variable structure control