摘要
给出一种轮式移动机器人系统的受非完整约束的动态模型。基于此模型应用了非线性反馈精确线性化方法进行了机器人路径跟踪控制系统设计。经过输入输出反馈线性化后,系统实现了解耦和线性化,然后用配置极点的方法对变换后的线性系统进行了设计。仿真结果表明,用反馈线性化设计的机器人系统具有良好的性能。实验结果证明了上述方法的有效性。
This paper presents the nonholonomic dynamic model of a robot vehicle, on the basis which the path tracking control system is designed by accurate nonlinear input-output feedback linearization and then linearized to two decoupling subsystems. A design is then made of the two linear subsystems by configuring polar-point. Simulation results show that the path tracking control system designed by nonlinear feedback linearization has good performance. Experiment results show that this method is effective.
出处
《电子科技》
2005年第1期2-5,共4页
Electronic Science and Technology
关键词
非线性
反馈线性化
轮式移动机器人
非完整约束
Nonlinear
accurate feedback linearization
nonholonomic constraint
wheeled mobile robots
