复杂环境下非完整移动机器人的鲁棒镇定与约束控制研究

项目名称： 复杂环境下非完整移动机器人的鲁棒镇定与约束控制研究

项目编号： No.61304004

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 陈华

作者单位： 河海大学

项目金额： 24万元

中文摘要： 现有不确定非完整系统的鲁棒镇定研究大多没有协同考虑控制受限的情形. 但实际在讨论参数不确定或测量不精确时, 系统还存在着诸如输入饱和、时间最短、能量最优、指定区域运动等物理的限制. 本课题拟研究具有不确定参数的非完整轮式移动机器人在外部扰动、视觉反馈或多机器人编队等复杂环境下控制受限的鲁棒镇定与协调控制问题，探讨这类约束控制器的一般设计方法. 主要研究特色与创新点是: 运用有限时间控制理论和Lyapunov稳定性定理, 提出类Backstepping的有限时间跟踪虚拟控制器技术, 实现从运动学系统到动力学系统输入饱和的鲁棒镇定；针对视觉反馈的原始模型, 给出一类切换控制设计方法, 避免通常的状态和输入变换而引起的奇异现象；采用动态反馈的局部线性化方法和线性系统的约束控制理论解决多机器人输入饱和及状态受限的协调控制问题. 课题的实施将为非完整系统约束控制的理论研究提供一个新的思路和方法.

中文关键词： 非完整系统；约束控制；有限时间镇定；输入饱和；分数阶

英文摘要： The presence of control constraint has not been considered in most of the existing researches of robust stabilization for uncertain nonholonomic systems. But the system with uncertain parameters or imprecise measurement is usually subject to some physical limits such as input saturation, minimum control time, minimal cost, and moving in the specified region, etc. The robust stabilization and constrained control problems will be considered in this subject research for nonholonomic wheeled mobile robots or the multi robot formation model with uncertain parameters and external disturbance. The proposal is aimed at finding a general design method for such constrained controllers. The main innovations can be summarized as: Firstly, the virtual_controller_tracked technique is proposed for the first time, based on which the saturated robust stabilization of dynamic system is addressed by using the finite time control theory and Lyapunov stability theory. Secondly, a class of switching control algorithm is given based on the original visual feedback system, which can avoid appearing the singularity due to the using of state or input transformation. Finally, the coordination control problem will be addressed for the multi robot formation system with input saturation or constrained states by applying the dynamic feedb

英文关键词： nonholonomic system；constrained control；finite-time stabilization；input saturation；fractional-order