不确定非完整运动学控制系统的鲁棒镇定

项目名称： 不确定非完整运动学控制系统的鲁棒镇定

项目编号： No.60874002

项目类型： 面上项目

立项/批准年度： 2009

项目学科： 金属学与金属工艺

项目作者： 王朝立

作者单位： 上海理工大学

项目金额： 29万元

中文摘要： 一般认为非完整运动学系统是确定的，对这类系统已经有了许多镇定控制方法。然而当利用视觉传感器测量系统状态并在视觉空间中描述系统误差方程时，发现视觉系统的内外参数是需要事先校准才能将其化为标准的非完整运动学系统的，现有的控制方法也才能够使用。而校准往往不准，精确校准需要消耗大量时间。而其未知参数下的非完整运动学系统的形式不同于现有的关于不确定非完整运动学系统的描述，这预示着存在更一般形式的不确定非完整运动学系统的描述。本项目从不校准视觉参数入手，探讨了不小准单目摄像机参数下,在图像平面内非完整运动学的描述形式，分类考察了基于这种描述的鲁棒镇定控制器设计、鲁棒跟踪控制器设计,仿真和实验研究。这一项目的实施，不仅丰富了非完整控制理论的发展内容，而且也为理论最终走向实际打下了重要基础，对平面移动机器人、机械手、空间机器人以及水下机器人的发展都有指导意义。

中文关键词： 非完整控制；鲁棒；运动学

英文摘要： Nonholonomic kinematic systems are generally regarded as known systems. Based on systems, lots of stabilizing controllers have been developed. However, only when intrinsic and extrinsic visual parameters calibrated in advance can there systems be transformed into a canonical chaind form if the system states are measured by using visual sensors. Only under these conditions are the stabilizing controllers proposed available used to these systems.But calibration is often inaccurate. Accurate calibration needs to spend too much time. It is not practical in many engineering application,especially in high requirement of time rapidity. Under these unknown parameters, their kinematic expressions are different from one available, which implies that there exists more generalized nonholonomic kniematic expressions. Due to this, this project has discussed the more generalized forms of these systems and investigate the design of stabilizing and tracking controllers and robust stabilizing and tracking controllers.The controllers proposed has been validated by simulation and experiments. The successful implementation of this project will not only richen the theories of nonholonomic control systems, but it will lay a solid foundation for practical application. It also has practical directive significance for the development of plane moving robots, manipulators, space robots and underwater robots, etc.

英文关键词： by;):nonholonomic control；robust；kinematic