CAJ | 학술논문

针对具有未知参数的视觉伺服下带有非完整约束的一类移动机器人不确定扰动的动力学模型，提出新的反馈控制算法，实现了移动机器人的位姿镇定。首先，对于单目摄像机模型下的移动机器人运动学模型，将原始系统进行状态缩放变换，基于线性时变系统的稳定性理论，设计了非完整移动机器人运动的期望速度，实现了机器人的指数镇定；其次，对于带有不确定扰动的非完整移动机器人的动力学模型，利用计算力矩法设计力矩控制器，使得机器人的实际速度在有限时间内收敛至期望速度，并且通过了严格的数学证明。最后，仿真结果验证了所提控制器的有效性。
침대구유미지삼수적시각사복하대유비완정약속적일류이동궤기인불학정우동적동역학모형，제출신적반궤공제산법，실현료이동궤기인적위자진정。수선，대우단목섭상궤모형하적이동궤기인운동학모형，장원시계통진행상태축방변환，기우선성시변계통적은정성이론，설계료비완정이동궤기인운동적기망속도，실현료궤기인적지수진정；기차，대우대유불학정우동적비완정이동궤기인적동역학모형，이용계산력구법설계력구공제기，사득궤기인적실제속도재유한시간내수렴지기망속도，병차통과료엄격적수학증명。최후，방진결과험증료소제공제기적유효성。
For a class of dynamic models of nonholonomic mobile robots in the presence of uncertain disturbances under visual servo with unknown parameters,a novel feedback controller was proposed to stabilize the mobile robot.For the kinematic model of the robot with a monocular camera,a state scaling transformation was applied to its original system,and the stability theory for time-varying linear system was exploited to deduce a desired velocity to stabilize the mobile robot exponentially.The method of computed-torque was introduced for the dynamic model associated with uncertain disturbances to design a torque controller which can let the actual velocity track the desired one in finite time.The method was also proved rigorously in mathematical way.The simulation results confirm the effectiveness of the proposed methods.