外部不可控扰动作用下轮式机器人路径跟随稳定的非线性控制设计

2021 14th International Conference Management of large-scale system development (MLSD) Pub Date : 2021-09-27 DOI:10.1109/mlsd52249.2021.9600138

Y. Kokunko, S. Krasnova

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引用次数: 1

摘要

为解决移动机器人在平面上考虑状态变量和控制约束的轨迹稳定问题，提出了一种综合线性和非线性反馈的分解方法，该方法能稳定给定路径不变量对外部扰动的线性和角偏差。给出了仿真结果。

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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Nonlinear Control Design for Path Following Stabilization of a Wheeled Robot under the Action of an External Uncontrollable Disturbance

A decomposition procedure for the synthesis of linear and nonlinear feedbacks that stabilizes linear and angular deviations from a given path invariant to external disturbances is developed to solve the problem of track stabilization of a mobile robot on the plane, taking into account the restrictions on state variables and control. Simulation results are presented.

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2021 14th International Conference Management of large-scale system development (MLSD)

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