【作者】 李胜； 王轶卿； 陈庆伟； 胡维礼；

【Author】 LI Sheng,WANG Yi-qing,CHEN Qing-wei,HU Wei-li(Department of Automation,Nanjing University of Science and Technology,Nanjing 210094,China)

【机构】 南京理工大学自动化系；

【摘要】 针对一类约束非理想情况下的非完整移动机器人,用Lyapunuov直接法和Barbalat引理证明全局渐近稳定的追踪控制律的存在性,并构造一类控制律保证轨迹追踪的误差的全局一致渐近稳定。最后通过2个仿真示例,验证提出的控制律的有效性。更多还原

【Abstract】 Aimed at a kind of nonholonomic mobile robot with non-ideal constraint,a kind of tracking controller for global asymptotic stability was proposed.And based on Lyapunuov direct method and Barbalat’s lemma,it is proved that the proposed controller can make the tracking error global asymptotic stability.Finally,the effectiveness of the proposed controller was shown through two simulation cases.更多还原