【作者】 姜勇；

【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， 2004， 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问题的研究，一直受到普遍关注。 本文针对近年来在移动机器人运动控制方面的热点问题——包含不确定扰动输入的完整约束轮式移动机器人的运动控制和干扰抑制问题——进行了深入和细致的研究。该研究课题以中国科学院沈阳自动化研究所机器人学开放实验室的全方位自主移动机器人作为被控制对象，它是由正交轮结构组成的完整约束移动机器人，也是在平坦环境下工作的自主机器人的理想载体。主要研究结果如下： 1．线性化方法的研究：总结了非线性控制理论与应用中几种解决线性化问题的思想和方法。针对移动机器人控制领域中一类多输入多输出仿射非线性系统，简化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的镇定问题。 2．降阶方法的研究：简要介绍了模型和控制器降阶的几种常用方法，并且针对一类包含不确定扰动输入的移动机器人系统，根据数学模型自身的特点，提出了满足鲁棒性的降阶控制器设计的充分条件及相关推论。 3．基于LMI的H_∞控制问题研究：根据降阶方法研究中给出的定理及推论，提出了一种基于LMI通过局部反馈H_∞控制实现整个系统对不确定扰动具有鲁棒性的算法，并用此算法解决了机器人控制领域中一类结构特殊的含有不确定扰动多输入多输出线性时不变高阶系统的H_∞控制问题。 4．通过仿真实验，分析并验证了论文中提出的定理、推论及算法的合理性和有效件。更多还原

【Abstract】 Since robot can be viewed as an effective extension of human’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, the motion control of mobile robot has been given enough attention by researchers in the world.In this thesis, the problems of motion control and perturbance restraint to a wheeled mobile robot with holonomic constraints including uncertain inputs, the pop problems in the field of motion control to mobile robot in recent years, are investigated deeply and thoughtfully. The orthogonal-wheeled mobile robot of the key robotics Lab in Shenyang institute of automation Chinese academy of sciences is the controlled object. It is a mobile robot with holonomic constrains composed of orthogonal-wheels and a ideal carrier in flat surroundings. The main conclusions are given as follows:1. Investigation to the method of linearization: Summarizing the idea and the method of linearization. Considering a MIMO nonlinear system, an approximate linearizing stability via state feedback algorithm based on balanced flow pattern is simplified and applying this algorithm to a mobile robot with holonomic constraints.2. Investigation to the method of order-decreasing: Simply introducing the idea and the method of order-decreasing for model and control. Considering a class of MIMO high-order LTI system including uncertain inputs in robot control field, according to the composition of the mathematics model, sufficient conditions and deduction for designing an order-decreasing control that meeting the robust quality are presented.3. Investigation to the method of H control based on LMI: According to the sufficient conditions and deduction presented in the investigation to the method of order-decreasing, a new algorithm to solve H control problem for a kind of MIMO high-order LTT system is also proposed. Then apply this algorithm to a wheeled mobile robot with holonomic constraints.4. The simulation results demonstrate the efficiency of the sufficient conditions, deduction and method.更多还原