自动化学报2003，Vol.29Issue(6)：876-882,7.
控制受限的移动机器人鲁棒跟踪控制器设计
Robust Trajectory Tracking Controller Design for Mobile Robots with Bounded Input
摘要
Abstract
Designing of robust trajectory tracking controller for mobile robots with parametric uncertainties in the dynamic model and with bounded input is investigated. Based on the established full dynamic error model, a robust tracking controller is designed using receding horizon control (RHC) and linear matrix inequalities (LMIs). Simultaneously asymptotically tracking position,heading angle and velocities of mobile robots is realized in accordance with nonholonomic and input constraints. The sufficient condition of the system stability is given in terms of linear matrix inequalities. Simulation results verify the feasibility and effectiveness of the proposed method.关键词
鲁棒跟踪/全动态误差模型/滚动时域控制/线性矩阵不等式Key words
Robust tracking/full dynamic error model/receding horizon control/linear matrix inequalities分类
信息技术与安全科学引用本文复制引用
裴辛哲,刘志远,裴润..控制受限的移动机器人鲁棒跟踪控制器设计[J].自动化学报,2003,29(6):876-882,7.基金项目
Supported by National Natural Science Foundation of P. R. China(60234030) （60234030）
