【作者】 赵平；

【导师】 孙茂相；

【作者基本信息】 沈阳工业大学 ， 控制理论与控制工程， 2003， 硕士

【摘要】 如果将机器人看作是一种能够扩展人类工作能力的有效工具，那么人类在认识和改造世界的过程中就不能没有机器人。移动机器人是机器人家族中的一个重要分支，也是进一步扩展机器人应用领域的重要研究发展方向，因此对移动机器人运动控制的研究，一直都得到普遍关注。 本文针对近年来在移动机器人运动控制方面的热点问题——非完整约束轮式移动机器人的运动控制问题和干扰抑制问题——进行了深入和细致的研究。前者因为移动机器人系统存在非完整约束，而使其运动控制具有极大的挑战性；后者则由于存在各种不确定性给所研究的问题带来许多困难。主要研究结果如下： 1．基于一类具有非完整约束的轮式移动机器人，建立了该种移动机器人的运动模型，并通过状态反馈线性化方法对其进行了线性化处理，此模型可用于移动机器人的跟踪控制。 2．轮式移动机器人的控制问题由于存在非完整运动约束而极富挑战性。利用鲁棒H~∞控制理论中的LMI方法，给出系统稳定性判据和输出反馈H~∞控制器存在的条件，同时给出H~∞控制器的设计方法。 3．H~∞控制器的阶次通常都比较高，在工程实践中出于对硬件实现性和软件可靠性等方面的考虑，往往希望控制器的阶次低一些。基于LMI方法给出降阶H~∞控制器存在的条件，同时给出降阶H~∞控制器的设计方法。 4．观测器型控制器由于其结构简单和物理意义明确而受到广泛重视。针对具有外部干扰的不确定性系统，提出基于LMI的观测器型H~∞控制器设计方法。 5．将以上控制器的设计方法应用于一类移动机器人控制器设计中，仿真结果表明该方法的有效性和合理性。更多还原

【Abstract】 Since robots can be regarded as an effective extension of man’s motor ability, it is sure to be indispensable in the course of recognition and exploration of the world. Due to its important role in theory and application, motion control of mobile robots have been given enough attention by researcher in the world.In recent years, there are two main problems being focused. The one is problem of motion control for nonholonomic wheeled mobile robot, the other is anti interference in mobile robot’s motion. The former has huge challenge for nonholonomic constraints in the course of motion, and the difficulty of the latter is the uncertainties. These problems are all deeply and systemically studied. The main contributions are given as follows:1. The motion model of wheeled mobile robots with nonholonomic constraints is built, and the model has been linearilized Via state feedback exact linearization. The motion control of WMR can be studied using the model.2. It is well known that the control problems of wheeled mobile robots are complicated due to nonholonomic constraints in the course of motion. A robust output feedback controller is designed using linear matrix inequality. At the same time, the stability of system, the existing condition of output feedback and the approach to controller design are presented.3. The order of H?controller is usually higher, but we hope that the order of controller is lower for the realization of hardware and the reliability of software in engineering application. A reduced-order H" controller is designed according to linear matrix inequality approach.4. Observer-based controller is widely accepted for its simple structure and explicit physical meaning. The LMI method to design H" controller under the assumption of observer-based type is studied. The controller parameters can be derived from three LMIs.5. The simulation results show the effectiveness of the proposed control method.更多还原