【摘要】 提出一种基于非完整移动机器人动态模型的鲁棒跟踪控制算法。在系统存在模型不确定性但满足“匹配条件”的情况下 ,设计了一种滑动控制器。仿真结果表明 ,当系统的质量、转动惯量、结构参数等存在较大误差时仍能实现精确跟踪 ,具有良好的鲁棒性。更多还原

【Abstract】 The robust output tracking control problem of a class of nonholonomic control system with model uncertainties is implemented by I/O linearization. A sliding mode controller is designed. When a suitable base for null space of the constraint matrix is selected, kinds of uncertainties or disturbances will obey the “matching conditions” and the I/O linearization can be realized by an appropriate output function. Finally a detained robust output tracking control law for a mobile robot is presented as an application example.更多还原