Robust Control for Uncertain Nonholonomic Systems and its Application to Mobile Robots

机译：不确定非完整系统的鲁棒控制及其在移动机器人中的应用

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This paper investigates the robust control problem of nonholonomic dynamic systems with unknown inertia parameters, dynamic and static friction terms, and other disturbances. Based on the ideas of H∞ control and homogeneous feedback, the controller proposed can stabilize the closed loop systems when there is no exotic disturbance. In addition, it can realize the desired disturbance attenuation according to some integral criterion about a homogeneous norm when there exists any disturbance. Simulation results in mobile robots show that the approach is effective.

机译：本文研究了具有未知惯性参数，动，静摩擦项以及其他干扰的非完整动力学系统的鲁棒控制问题。基于H∞控制和均质反馈的思想，提出的控制器可以在没有外来干扰的情况下稳定闭环系统。另外，当存在任何干扰时，它可以根据关于均匀范数的某些积分准则来实现期望的干扰衰减。移动机器人的仿真结果表明该方法是有效的。

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来源
《World Congress on Intelligent Control and Automation;WCICA 2010》|2010年|p.1115-1120|共6页
会议地点 Jinan(CN);Jinan(CN)
作者
Yan Sun; Chaoli Wang; Yamin Yang;
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作者单位

The Department of Control Science and Engineering University of Shanghai for Science and Technology 200093 Shanghai PRC;

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原文格式 PDF
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关键词
Robust; stabilization; nonholonomic; robot;

机译：强大的;稳定非完整机器人;

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专利

1. Tracking control of uncertain dynamic nonholonomic system and its application to wheeled mobile robots [J] . Wenjie Dong, Wei Huo IEEE Transactions on Robotics and Automation . 2000,第6期

机译：不确定动态非完整系统的跟踪控制及其在轮式机器人中的应用
2. Robust tracking control of nonholonomic dynamic systems with application to the bi-steerable mobile robot [J] . Markus Mauder Automatica . 2008,第10期

机译：非完整动力系统的鲁棒跟踪控制及其在双转向机器人中的应用
3. Applications of High-Order Sliding Mode Control in Robust Output Tracking of Nonholonomic Mobile Robots [J] . Hongmin CHAO, Chi Kwong LI, Ahmad Besharati RAD, IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences . 2002,第9期

机译：高阶滑模控制在非完整移动机器人鲁棒输出跟踪中的应用
4. Robust Control for Uncertain Nonholonomic Systemsand its Application to Mobile Robots [C] . Yan Sun, Chaoli Wang, Yamin Yang World Congress on Intelligent Control and Automation . 2010

机译：不确定的非完整系统及其在移动机器人的应用的强大控制
5. Geometric methods for control of nonholonomic mechanical systems with applications to the control moment gyroscope and wheeled mobile robots. [D] . Amengonu, Yawo H. 2015

机译：用于控制非完整机械系统的几何方法及其在控制力矩陀螺仪和轮式移动机器人中的应用。
6. Robust ... formula ...-Fuzzy Logic Control for Enhanced Tracking Performance of a Wheeled Mobile Robot in the Presence of Uncertain Nonlinear Perturbations [O] . Nur Syazreen Ahmad 2020

机译：强大的...... - 在不确定非线性扰动存在下用于增强轮式移动机器人的跟踪性能的模糊逻辑控制
7. Neural network based robust tracking control for nonholonomic mobile robotic system [O] . Ying-Nan Bian, Jin-Zhu Peng 2017

机译：基于神经网络的非完整移动机器人系统的鲁棒跟踪控制

Robust Control for Uncertain Nonholonomic Systems and its Application to Mobile Robots

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