自动化学报2011，Vol.37Issue(2)：129-142,14.DOI:10.3724/SP.J.1004.2011.00129
不确定非完整链式系统的鲁棒镇定
Robust Stabilization of Nonholonomic Chained Form Systems with Uncertainties
摘要
Abstract
A summary of recent developments concerning robust stabilization problems for the nonholonomic chained form systems with uncertainties is provided. Firstly, various models, main approaches, and results over past ten years for the uncertain chained form systems are presented. Then, several new exciting uncertain chained form models of special interest are proposed for the nonholonomic wheeled mobile robots. They are obtained by using the state and input transformations based on the visual servoing feedback. Finally, the novel robust regulation controllers are addressed for some new uncertain chained models by using two-steps technology, visual feedback, state-scaling and switching strategy. It is expected that this investigation will provide a good introduction about the development of robust stabilization for uncertain chained form systems.关键词
Nonholonomic/kinematic/mobile robot/uncertain chained systemKey words
Nonholonomic/kinematic/mobile robot/uncertain chained system引用本文复制引用
梁振英,王朝立..不确定非完整链式系统的鲁棒镇定[J].自动化学报,2011,37(2):129-142,14.基金项目
Supported by National Natural Science Foundation of China (60874002),Key Project of Shanghai Education Committee (09ZZ158),Leading Academic Discipline Project of Shanghai Municipal Government (S30501),and Innovation Fund Project For Graduate Student of Shanghai (JWCXSL1001) （60874002）
