动态反馈的一类不确定非完整移动机器人有限时间镇定

doi:10.3969/j.issn.1007-2861.2014.01.041

上海大学学报(自然科学版) ›› 2014, Vol. 20 ›› Issue (4): 404-410.doi: 10.3969/j.issn.1007-2861.2014.01.041

动态反馈的一类不确定非完整移动机器人有限时间镇定

陈华1, 陈怡2, 王朝立3, 杜庆辉3, 陈俊风2

1. 河海大学数理教学部, 江苏常州213022; 2. 河海大学物联网工程学院, 江苏常州213022;
3. 上海理工大学光电信息与计算机工程学院, 上海200093

收稿日期:2014-03-04 出版日期:2014-08-25 发布日期:2014-08-25
通讯作者: 陈华(1978—), 男，副教授，博士，研究方向为非线性控制、机器人运动控制等. E-mail: chenhua112@163.com E-mail:chenhua112@163.com
作者简介:陈华(1978—), 男，副教授，博士，研究方向为非线性控制、机器人运动控制等. E-mail: chenhua112@163.com
基金资助:
国家自然科学基金资助项目(61304004, 61374040); 中国博士后基金资助项目(2013M531263); 江苏省博士后基金资助项目(1302140C); 上海市教委科研创新基金资助项目(13ZZ115); 中央高校河海大学业务费资助项目(2013B18614)

Finite-Time Stabilization for a Class of Uncertain Nonholonomic Mobile Robots Based on Dynamic Feedback

CHEN Hua1, CHEN Yi2, WANG Chao-li3, DU Qing-hui3, CHEN Jun-feng2

1. Mathematics and Physics Department, Hohai University, Changzhou 213022, Jiangsu, China;
2. College of IOT Engineering, Hohai University, Changzhou 213022, Jiangsu, China;
3. School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and
Technology, Shanghai 200093, China

Received:2014-03-04 Online:2014-08-25 Published:2014-08-25

摘要/Abstract

摘要： 针对一类非完整移动机器人, 通过输入-状态变换得到一个三输入链式系统, 考虑其在含有不确定控制方向和外部扰动时动态反馈的有限时间镇定问题. 运用非光滑控制理论, 给出了新型切换设计算法, 并得到了不连续的三步切换控制器, 使得相应的闭环系统全局有限时间镇定. 通过数值仿真验证了该控制策略的有效性.

关键词: 链式系统, 动态反馈, 非完整移动机器人, 切换控制, 有限时间镇定

Abstract: This paper considers a finite-time stabilization problem for a class of uncertain nonholonomic mobile robots with dynamic inputs. Using input-state transformation, a three-input chained systems can be obtained. A discontinuous three-step switching controller is presented by applying the theory of finite-time stability and a new switching design algorithm, which can stabilize the closed-loop system to the original equilibrium point in a finite time interval. Simulation results show effectiveness of the proposed approach.

Key words: chained form system, dynamic feedback, finitetime stabilization, nonholonomic mobile robot, switching control

中图分类号:

TP 273

陈华1, 陈怡2, 王朝立3, 杜庆辉3, 陈俊风2. 动态反馈的一类不确定非完整移动机器人有限时间镇定[J]. 上海大学学报(自然科学版), 2014, 20(4): 404-410.

CHEN Hua1, CHEN Yi2, WANG Chao-li3, DU Qing-hui3, CHEN Jun-feng2. Finite-Time Stabilization for a Class of Uncertain Nonholonomic Mobile Robots Based on Dynamic Feedback[J]. Journal of Shanghai University（Natural Science Edition）, 2014, 20(4): 404-410.

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动态反馈的一类不确定非完整移动机器人有限时间镇定

Finite-Time Stabilization for a Class of Uncertain Nonholonomic Mobile Robots Based on Dynamic Feedback

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