【摘要】 基于控制Lyapunov函数(Control Lyapunov Function,简称CLF)和一类性能指标,提出了一种轮式移动机器人(WMR)全局渐近镇定控制器的设计方法。采用CLF近似性能指标的值函数,获得了控制仿射无漂系统的镇定控制律表达式。然后将CLF与反步法相结合,针对极坐标下WMR的动态模型,设计了一种渐近镇定控制器,解决了完美速度跟踪的问题。仿真结果验证了所提出控制律的有效性。更多还原

【Abstract】 A method of designing a global asymptotic stabilizing controller for wheeled mobile robots (WMR) is proposed based on control Lyapunov function (CLF) and a class of performances. A formulation of the stabilizing control law is obtained for control-affine driftless systems by means of approximating the value function of the performance index by a CLF. And then, an asymptotically stabilizing controller is designed for the dynamic model of WMR in the polar coordinates by combination of CLF and backstepping methods while solving the perfect velocity-tracking problem. Simulation is performed to highlight the effectiveness of the proposed control laws.更多还原