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题名	具有不确定性的非完整移动机器人的自适应模糊控制研究
作者	邹安民
学位类别	工学博士
答辩日期	2007-06-08
授予单位	中国科学院研究生院
授予地点	中国科学院自动化研究所
导师	侯增广
关键词	非完整约束 移动机器人 自适应控制 模糊逻辑系统 Backstepping Nonholonomic constraints mobile robot adaptive control fuzzy logic systems Backstepping
其他题名	Research on adaptive fuzzy control of nonholonomic mobile robots with uncertainties
学位专业	控制理论与控制工程
中文摘要	非完整约束是指含有系统广义坐标导数且不可积的约束。具有非完整约束的非完整系统是复杂的多变量、时变、强耦合和高度非线性系统，在工业和国防等领域具有很强的实际应用背景。作为一种不依赖于模型的控制方法，自适应模糊控制具有良好的在线学习能力，对干扰及模型参数不确定性具有较好的鲁棒性。因此，可以考虑采用自适应模糊控制来实现对非完整系统的控制。本文在综述相关研究现状的基础上，以非完整移动机器人为研究对象，以自适应模糊控制作为理论工具，主要研究非完整系统的轨迹跟踪和镇定控制问题，特别是在系统模型具有不确定性的情况下的非完整系统的跟踪镇定问题。论文的主要工作包括： 1. 对非完整移动机器人的轨迹跟踪和点镇定问题，考虑动力学模型，并假设其动力学模型可以分解为标称部分和不确定部分，首先设计运动学控制器，然后基于反馈线性化和模糊补偿器设计动力学控制器，并给出了闭环系统的稳定性分析； 2. 基于非完整系统的降阶模型，应用非完整系统的无源性质，提出一种鲁棒的自适应模糊控制器，并证明了闭环系统的稳定性。该控制器可以将一个具有m个非完整约束的非完整系统镇定到(n-m)维期望流形； 3. 考虑非完整移动机器人运动学模型的不确定性及电机动力学的影响，结合输入-输出线性化、自适应控制、Backstepping方法和模糊逻辑系统，提出一种鲁棒的轨迹跟踪控制器，并能保证闭环系统是稳定的； 4. 首先对一类可反馈线性化的非线性多输入-多输出系统，在考虑系统控制增益矩阵未知的情况下，提出鲁棒的自适应模糊控制器及改进策略，并分析了闭环系统的稳定性，然后将该控制器应用到非完整移动机器人的轨迹跟踪问题。
英文摘要	Nonholonomic constraint is the constraint that contains time derivatives of the generalized coordinates of the system and is not integrable. Nonholonomic control system that has the nonholonomic constraints is a complex multi-variables, time-varying, strong coupling, and highly nonlinear system. It has widely practical applications in the fields of the industry and national defence. As one kind of model-free control algorithms, adaptive fuzzy control method has good capability of on-line learning, and is robustness with respect to external disturbances and plant uncertainties. Therefore, one can consider using adaptive fuzzy control to implement the control of nonholonomic systems. On the basis of review and summary of the corresponding researches of nonholonomic control systems. This thesis makes the mobile robot that has the typical nonholonomic constraints as the research object and employs adaptive fuzzy control as theory tool. The research is mainly focused on the feedback tracking and stabilizing control of nonholonomic control systems, especially the system with uncertainties. The main contributions of this thesis include: 1. A control structure combining a kinematic controller and a dynamic controller is respectively presented for the tracking control and stabilizing problems of nonholonomic mobile robots with dynamics. The robot dynamics is assumed to be separated as nominal and uncertain parts. Firstly, a kinematic controller is designed; secondly, a torque controller is designed based on nonlinear feedback and fuzzy compensator; finally, the analysis of the stability of the closed-loop system is provided. 2. Based on the reduced-form dynamic model of nonholonomic systems, a robust adaptive fuzzy controller is proposed by use of the passivity property of nonholonomic systems, and the stability of the closed-loop system can be ensured. This controller can stabilize a system with m nonholonomic constraints to an (n-m)-dimensional desired manifold. 3. The uncertainties in the kinematic model of the robot and the dynamics of wheel actuators have been taken into account, and a robust controller is proposed for the tracking control of nonholonomic mobile robots with the aid of input-output linearization, in cooperation with adaptive control, backstepping and fuzzy logic systems. The stability of the closed-loop system can be guaranteed. 4. A robust adaptive fuzzy controller and its improved scheme are firstly presented for a class of feedback linearlizable nonlinear multi-input multi-output systems with unknown control gain matrix, and the stability of closed-loop system is analyzed. Then, this controller is employed to tracking control of a nonholonomic mobile robot.
语种	中文
其他标识符	200418014628045
内容类型	学位论文
源URL	[http://ir.ia.ac.cn/handle/173211/6010]
专题	毕业生_博士学位论文
推荐引用方式 GB/T 7714	邹安民. 具有不确定性的非完整移动机器人的自适应模糊控制研究[D]. 中国科学院自动化研究所. 中国科学院研究生院. 2007.

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