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研究带有未知参数的非完整移动机器人的镇定问题.基于已有不确定非完整链式模型,运用辅助变量法和控制输入法分别设计控制器,使系统状态指数收敛.所提出的两种控制器不仅克服了对系统初始状态的限制,而且具有高度的统一性.仿真结果验证了两种控制方法的有效性.
In this paper, the stabilization of nonholonomic mobile robot with unknown parameters is studied. Based on the existing nonholonomic chained model, the controller is designed by using the auxiliary variable method and the control input method, respectively, to make the system state index converge.The proposed two kinds of control The device not only overcomes the limitation of the initial state of the system, but also has a high degree of uniformity. The simulation results verify the effectiveness of the two control methods.