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“非伪”控制是一种基于数据驱动的无模型控制方法,它根据输入-输出数据进行在线学习,计算与当前系统状态相匹配的控制量并作用于系统,以获得系统所要求的动静态品质,并以此检验系统是否满足该性能指标.基于“非伪”控制理论,研究了移动机器人的轨迹跟踪控制问题.根据非完整移动机器人的动态方程,采用“非伪”控制,直接作用于移动机器人的控制输入,使移动机器人能快速、准确地跟踪期望轨迹.
“Non-pseudo ” control is a data-driven model-free control method. It performs online learning based on input-output data, calculates the amount of control that matches the current system state and acts on the system to obtain the required Based on the “non-pseudo” control theory, the trajectory tracking control problem of mobile robot is studied.According to the dynamic equation of the nonholonomic mobile robot, the “non-pseudo ”The control, acting directly on the control input of the mobile robot, enables the mobile robot to track the desired trajectory quickly and accurately.