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自动化学报 2005
参数不确定移动小车的鲁棒镇定, PP. 314-319 Keywords: Nonholonomicmobilecart,robuststabilization,smoothtime-varyingcontrol,parameteruncertainties Abstract: ？Forregulatingthedynamicnonholonomicmobilecartwithparameteruncertainties,atime-varyingrobustcontrollawisderivedtoyieldgloballyexponentialconvergenceofcart0spositionandorientationtothedesiredsetpoint.Thecontrollerdesignreliesonconvertingthecart0sdynamicstoanadvantageousform,andtherobustlinearfeedbackcontrollawssteerthecart0spositionandorientationerrorstozeroexponentially.Simulationresultsshowtheeffectivenessoftheproposedcontrollaw.
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