中文摘要：

研究了具有控制输入约束和外部干扰的轮式移动机器人的轨迹跟踪问题.在轨迹跟踪位姿误差的T-S模型和并行分布补偿框架下,利用分段模糊Lyapunov理论给出了满足控制输入约束的H∞控制器设计方法,并证明了闭环系统的稳定性.仿真结果验证了所提方法的有效性.

英文摘要：

A trajectory tracking problem is investigated for wheeled mobile robots with control input constraints and external disturbances. Firstly,the trajectory tracking posture error model is transformed into a T-S fuzzy model. Under this framework and parallel distributed compensation,a design method of constrained H∞controllers is developed via the piecewise fuzzy Lyapunov function approach,and the stability conditions of the closed-loop system are also derived. Finally,simulation results are given to illustrate the effectiveness of the proposed method.