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不校准视觉参数的非完整运动学系统的鲁棒指数镇定

, PP. 998-1003

Keywords: 非完整系统,链式形式,镇定,移动机器人.

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Abstract:

基于视觉反馈和非完整(1,2)型移动机器人的标准链式形式,探讨了具有不校准视觉参数的机器人的鲁棒镇定问题,得到了这种机器人在图像平面内新的非完整运动学系统的不确定链式模型.借助于状态缩放和切换技术,对非完整不确定链式模型提出了新的指数镇定的时变反馈控制器,并给出了指数镇定的严格证明.仿真结果验证了控制器设计的有效性.

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