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ID:37488220
大小:2.46 MB
页数:93页
时间:2019-05-24
《非完整约束机器人反馈跟踪镇定控制研究》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、中国科学技术大学博士学位论文非完整约束机器人反馈跟踪镇定控制研究姓名:徐俊艳申请学位级别:博士专业:模式识别与智能系统指导教师:张培仁20040401ABSTRACTNonholonomicconstramtistheconstraintthatcontainstimederivativesofthegeneralizedcoordinatesofthesystemandisnotintegrable.nonholonomiccontrolsy’stemwhiohhasthenonholonomicconstraintsiSacomplexmulti.inpu
2、tmulti—Olltput,time·varying,strongcoupling,highlynonlinearsystem.Ithaswidelypracticalapplicationsinthefieldsoftheindustryandnationaldefence.Theresearchonthefeedbacktrackingandstabilizingcontrolofnonholonomicsystem,especiallytheresearchworkofthesystemfeedbacktrackingandstabilizingcon
3、trolundertheuncertainconditionischallengeableandpotentiallytheoreticalvaluable.Onthebasisofreviewandsummaryofthecorrespondingresearchesofnonholonomiccontrolsystem,Thethesismakesthemobilerobot,whichhasthetypicalnonholonomicconstraints,astheresearchobject.Theresearchmainlyfocusesonthe
4、feedbacktrackingandstabilizingcontrolofnonholonomiccontrolsystem,especiallythesystemwithuncertainties.Thedetailedcreativeresultsareasfollows.1.Accordingtothekinematicmodelofthemobilerobot。basedonthebacksteppingtime·varyingfeedbackmethod,introducingthevirtualfeedbackcontrolwhichhasth
5、epropertyofhyperbolictangent,proposedtheglobal(exponentialconvergence)stablecontrollawofmobilerobottrackingcontr01.ThestabilityisverifiedbytheLyapunovtheory.Thesimulationsprovethecontrollerhasthecharacteristicsoffasttrackingabilityandveracityoftrajectorytracking.2.Thefeedbacktrackin
6、gstabilizingcontrolofmobilerobotwithuncertaintiesiSstudied.Consideringboththekinematicsanddynamicsofthemobilerobot,therobustandadaptivetorquecontrollerisproposedbasedonwaveletnetworkonlineadjusting.TheLyapunovtheoryprovestheuniformlyasymptoticstabilityofthesystem.Thecontrollerdesign
7、neednotknOWthedynamicsoftherobotsystem,waveletnetworkadjustonline,whichhasnoneedofoff-linetrainingofthenetwork,overcomingtheconstraintsof‘perfecttracking’anddynamicparametersislinearizable.3.Thecommonstrict—feedbacknonlinearsystemwithuncertaintiesiSstudied.Theadaptivebacksteppingsli
8、dingmoderobustcontr
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