摘要
针对(1,2)型非完整轮式移动机器人动态反馈模型,通过状态-输入变换得到相应链式系统,运用终端滑模控制技术和切换控制策略,给出了一个不连续的有限时间状态反馈控制器,并根据有限时间稳定性理论证明了相应闭环系统的原点平衡点是全局有限时间稳定的,改善了现有方法渐近稳定的收敛时耗过长的设计缺点。最后,数值仿真验证了控制方法的有效性。
In this paper, the finite-time stabilization problem is discussed for type （1, 2） nonholonomic wheeled mobile robots. By applying the terminal sliding mode technique and a switching control strategy, the discontinuous finite-time state feedback controller is presented, which can globally stabilize the closed-loop system to the origin equilibrium point in a finite time according to the finite-time stability theory, by this way, it overcomes the disadvantage of taking long time to be convergent under existing design methods. Finally, the simulation results show the effectiveness of the proposed control design approach.
出处
《控制工程》
CSCD
北大核心
2017年第5期1102-1106,共5页
Control Engineering of China
基金
国家自然科学基金(61304004)
中国留学基金(201406715056)
中国博士后基金(2013M531263)
常州市应用基础研究(CJ20160013)
常州市特种机器人及智能技术重点实验室开放基金(CZSR2014005)
关键词
非完整控制系统
有限时间镇定
终端滑模
切换控制
Nonholonomic control system
finite-time stabilization
terminal sliding mode~ switching control
