单轮机器人的鲁棒平滑控制器

IF 1.2 4区计算机科学 Q4 AUTOMATION & CONTROL SYSTEMS

Archives of Control Sciences Pub Date : 2023-07-20 DOI:10.24425/119082

D. Pazderski

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引用次数: 4

摘要

本文研究了一种专用于单轮机器人的稳定器。所提出的平滑控制律保证了位置和方向轨迹在任意选择半径的目标点附近的全局有界性，并且对有界加性测量噪声具有较强的鲁棒性。该控制器由平滑混合导航算法和基于横向函数方法的平滑反馈组成。讨论了算法的稳定性证明、仿真和实验结果

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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A robust smooth controller for a unicycle-like robot

In this paper, a stabilizer dedicated for a unicycle-like robot is considered. The proposed smooth control law ensures the global boundedness of position and orientation trajectories to a neighbourhood of the desired point with an arbitrarily selected radius and it is robust to bounded additive measurement noises. The controller consists of a smooth hybrid navigation algorithm and a smooth feedback based on the transverse function approach. The stability proof, simulation and experimental results illustrating properties of the algorithm are discussed

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来源期刊

Archives of Control Sciences Mathematics-Modeling and Simulation

CiteScore

2.40

自引率

33.30%

发文量

审稿时长

14 weeks

期刊介绍： Archives of Control Sciences welcomes for consideration papers on topics of significance in broadly understood control science and related areas, including: basic control theory, optimal control, optimization methods, control of complex systems, mathematical modeling of dynamic and control systems, expert and decision support systems and diverse methods of knowledge modelling and representing uncertainty (by stochastic, set-valued, fuzzy or rough set methods, etc.), robotics and flexible manufacturing systems. Related areas that are covered include information technology, parallel and distributed computations, neural networks and mathematical biomedicine, mathematical economics, applied game theory, financial engineering, business informatics and other similar fields.