基于分段模糊Lyapunov函數的輪式移動機器人軌跡跟蹤控制

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基金項目:

國家重點基礎研究發展計劃資助項目(2012CB821206)

北京市自然科學基金資助項目(4122037)

國家自然科學基金資助項目(61174069)

Trajectory tracking control for wheeled mobile robots based on a piecewise fuzzy Lyapunov function

1. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China;
2. Department of Computer Science & Technology, Tsinghua University, Beijing 100084, China

摘要: 研究了具有控制輸入約束和外部干擾的輪式移動機器人的軌跡跟蹤問題.在軌跡跟蹤位姿誤差的T-S模型和并行分布補償框架下,利用分段模糊Lyapunov理論給出了滿足控制輸入約束的H_∞控制器設計方法,并證明了閉環系統的穩定性.仿真結果驗證了所提方法的有效性.
- 移動機器人 /
- 軌跡 /
- 跟蹤 /
- 模糊控制 /
- LYAPUNOV函數
Abstract: 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.
- mobile robots /
- trajectory /
- tracking /
- fuzzy control /
- Lyapunov function