移动机器人数学模型的近似线性化

针对机器人控制领域中一类多输入多输出(MIMO)仿射非线性系统,提出了一种基于平衡流形的近似线性化状态反馈镇定算法,并用此算法解决了一类完整约束轮式移动机器人(WMR)的镇定问题.仿真分析表明,此方法不仅能够实现系统的镇定,而且降低了因平衡工作点变动给系统稳定性带来的影响,同时也大大地简化了对非线性系统的综合设计过程,具有良好的控制效果和实用性.

Aiming at a MIMO nonlinear system within the domain of robust controlling,an approximate (linearizing) stability via state feedback algorithm based on balanced flow pattern is proposed to solve the (stability) problem for a mobile robot with holonomic constraints.Simulation analyses show that this (algorithm) can not only realize the system stability,but also decrease the influence caused by the fluctuation with balanced point.In addition,it can simplify the synthesis design process for a nonlinear system.The (simulation) results demonstrate the efficiency and the practicability of the method.

清华大学智能技术与系统国家重点实验室资助(0101);;中国科学院沈阳自动化研究所机器人学研究室资助(RL200110);;