【摘要】 针对控制量受限的移动机器人 ,研究其向目标点运动的控制问题 .提出了移动机器人有效控制的概念 ,并采用变增益控制方法 ,使系统的状态单调收敛 ,最终到达目标点 .该方法可有效避免系统收敛于极限环上的情况 .仿真结果验证了变增益控制器的有效性更多还原

【Abstract】 The control problem of the mobile robot moving to goal is investigated, in which the control input is constrained. The concept of efficient control is put forward aiming at the motion control for mobile robot. Also variable gain control method is used to control mobile robot moving to goal. During the course of motion, the system state is monotonically converged to the goal and the phenomenon of converging on limit cycle of the system is avoided. The simulation example shows the efficiency of the variable gain control.更多还原