不确定非完整系统的监督控制

Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251) Pub Date : 1999-12-01 DOI:10.1109/ACC.1999.782421

J. Hespanha, D. Liberzon, A. Morse

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引用次数: 74

摘要

研究了存在参数建模不确定性的非完整系统的控制问题。具体考虑的是一个参数未知的轮式独轮车移动机器人的停放问题，该机器人的运动学可以通过适当的状态坐标和控制坐标变换用非完整积分来描述。我们采用监督控制技术设计了一种混合反馈控制律来解决这一问题。

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Towards the supervisory control of uncertain nonholonomic systems

This paper is concerned with control of nonholonomic systems in the presence of parametric modeling uncertainties. The specific problem considered is that of parking a wheeled mobile robot of unicycle type with unknown parameters, whose kinematics can be described by the nonholonomic integrator after an appropriate state and control coordinate transformation. We employ the techniques of supervisory control to design a hybrid feedback control law that solves this problem.

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Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)

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