Robust Stabilization of Wheeled Mobile Robots Moving on Uncertain Uneven Surface

Sixth International Conference on Intelligent Systems Design and Applications Pub Date : 2006-10-16 DOI:10.1109/ISDA.2006.43

Xiaocai Zhu, Guohua Dong, D. Hu, Zixing Cai

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引用次数: 5

Abstract

A solution is presented to the robust control problem of wheeled mobile robots moving on an uneven surface that is not exactly known. Quadratic surface with unknown but bounded coefficients is utilized to locally approximate the uneven surface. The design procedure is based on the transverse function method, integrator backstepping, and Lyapunov redesign technique. After exploring the left-invariance property of the kinematic subsystem of the wheeled mobile robots with respect to the standard group operation of the Lie group SE(2) we use transverse function to derive smooth "virtual" control laws which render the error subsystem exponentially stable. Then, the integrator backstepping technique is applied to the nominal dynamic system due to the smoothness of the "virtual" control laws. Finally, a Lyapunov redesign component is constructed to handle the gravity disturbance caused by the surface. Driven by the proposed control laws, the wheeled mobile robot has the ability to adapt to varying uneven surface condition. Some simulations are provided to validate the effectiveness of the algorithm

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不确定不平路面上轮式移动机器人的鲁棒镇定

针对轮式移动机器人在不均匀表面上运动的鲁棒控制问题，提出了一种解决方案。利用系数未知但有界的二次曲面局部逼近不均匀曲面。设计过程基于横向函数法、积分器反演和李亚普诺夫再设计技术。在研究了轮式移动机器人运动子系统相对于李群SE(2)的标准群操作的左不变性后，利用横向函数推导出平滑的“虚”控制律，使误差子系统指数稳定。然后，利用“虚拟”控制律的平滑性，将积分器反演技术应用于标称动态系统。最后，构造了Lyapunov再设计分量来处理由地表引起的重力扰动。在该控制律的驱动下，轮式移动机器人具有适应不同不平路面条件的能力。仿真结果验证了该算法的有效性

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Sixth International Conference on Intelligent Systems Design and Applications

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