基于具有$m个输入、至多m+2个状态变量的可控无漂移系统为微分平面系统这样一个事实,通过动态扩展原理和自适应控制技术,本文提出了一种针对三轮移动机器人轨迹跟踪问题的鲁棒自适应控制方法.应用动态扩展原理首先对三轮移动机器人的运动模型实现了精确线性化,设计变结构控制时采用了边界层内插方法和在线参数估计以削弱控制抖动.仿真结果表明该方法优于一般的变结构控制.%This paper addresses the robust tracking of mobile robots with uncertain parameter variations. Based on the fact that a controllable driftless system with %m% inputs and at most %m+2% state variables is a differentially flat system, we develop a robust control approach to the trajectory tracking problem of a three-wheel mobile robot via the dynamical extension approach and adaptive variable structure control technique. By applying the dynamical extension approach to the kinematic model of the three-wheel mobile robot, the exact linearization of the extended dynamic feedback system is first realized under mild regular condition. In designing the robust control law we adopt the control interpolation in a boundary layer and on-line parameter estimation to avoid the control chattering under large parameter uncertainties. Finally, numerical simulations are performed to show the efficiency of the proposed approach.
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