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Robust simultaneous tracking and stabilization of wheeled mobile robots not satisfying nonholonomic constraint

ISSN号：1004-4132
期刊名称：《系统工程与电子技术：英文版》
时间：0
分类：TP24[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]
作者机构：[1]College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha 410073, China, [2]School of Information Science and Engineering, Central South University, Changsha 410083, China
相关基金：Project （60234030） supported by the National Natural Science Foundation of China; Project supported by the TRAP0YT of Ministry of Education of China

关键词：轮动机器人, 稳定化, 设计, 技术性能, wheeled mobile robot, robust control, Lie group, transverse function, Lyapunov redesign

中文摘要：

一个柔韧的统一控制器为 wheeled 被建议不满足没有滑倒的理想的滚动的活动机器人限制。实际轨道追踪和姿势稳定在一个统一框架被完成。设计过程基于横向的功能方法和 Lyapunov 重新设计技术。谎言组也在设计被介绍。名字的模型的左不变性的性质第一关于谎言组 SE (2 ) 的标准组操作被探索。然后，围住的横向的功能被构造，由哪个相应光滑的嵌入的 submanifold 被定义。在组操作的帮助下，一条光滑的控制法律被设计，它完成名字的系统的实际轨道 / 稳定。一个另外的部件最后被构造到 robustify 关于由使用 Lyapunov 重新设计技术的滑倒的骚乱的名字的控制法律。设计过程能容易被扩大到受不了的机器人系统一般未知却围住的骚乱。模拟被提供表明柔韧的统一控制器的有效性。

英文摘要：

A robust unified controller was proposed for wheeled mobile robots that do not satisfy the ideal rolling without slipping constraint. Practical trajectory tracking and posture stabilization were achieved in a unified framework. The design procedure was based on the transverse function method and Lyapunov redesign technique. The Lie group was also introduced in the design. The left-invariance property of the nominal model was firstly explored with respect to the standard group operation of the Lie group SE（2）. Then, a bounded transverse function was constructed, by which a corresponding smooth embedded submanifold was defined. With the aid of the group operation, a smooth control law was designed, which fulfills practical tracking/stabilization of the nominal system. An additional component was finally constructed to robustify the nominal control law with respect to the slipping disturbance by using the Lyapunov redesign technique. The design procedure can be easily extended to the robot system suffered from general unknown but bounded disturbances. Simulations were provided to demonstrate the effectiveness of the robust unified controller.

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