CAJ | 학술논문

本文针对一类典型的不确定非完整运动学系统--两轮驱动的平面移动机器人,研究了其鲁棒镇定问题。首先给出单目摄像机下的移动机器人的视觉模型,然后建立（2.0）型非完整移动机器人的运动学模型,在视觉参数未知的情形下,设计一种能使系统渐近稳定的控制器,并严格证明了闭环系统的稳定性,仿真结果验证了所设计控制器的有效性。
본문침대일류전형적불학정비완정운동학계통--량륜구동적평면이동궤기인,연구료기로봉진정문제。수선급출단목섭상궤하적이동궤기인적시각모형,연후건립（2.0）형비완정이동궤기인적운동학모형,재시각삼수미지적정형하,설계일충능사계통점근은정적공제기,병엄격증명료폐배계통적은정성,방진결과험증료소설계공제기적유효성。
The paper studies the robust stabilization of the two-wheel-driven plane mobile robot,one class of typical uncertain nonholonomic kinematic system,by first giving the monocular camera visual model of the mobile robot and then establishing the type 2,0 nonholonomic mobile robot kinematics model,designs a controller which can make the system asymptotically stable when the unknown visual parameters exist and strictly proves the stability of the closed-loop system.Simulation results verify the effectiveness of the designed controller.