一类新的PPA型三连杆欠驱动机器人的控制策略.pdfVIP

绗?6 鍗 绗? 鏈 鎺 鍒 涓 鍐 绛 2011 骞 7 鏈 Vol. 26 No. 7 Control and Decision Jul. 2011 鏂囩珷缂栧彿: 1001-0920 (2011) 07-0998-06 涓嶆牎鍑嗚瑙夊弬鏁扮殑闈炲畬鏁磋繍鍔ㄥ绯荤粺鐨勯瞾妫掓寚鏁伴晣瀹 1a,2 1b 姊佹尟鑻 , 鐜嬫湞绔 (1. 涓婃捣鐞嗗伐澶уa. 绠＄悊瀛﹂櫌锛宐. 鍏夌數瀛﹂櫌锛屼笂娴?00093 锛?. 灞变笢鐞嗗伐澶у鐞嗗闄紝灞变笢娣勫崥255049) 鎽 瑕? 鍩轰簬瑙嗚鍙嶉鍜岄潪瀹屾暣(1, 2) 鍨嬬Щ鍔ㄦ満鍣ㄤ汉鐨勬爣鍑嗛摼寮忓舰寮? 鎺㈣浜嗗叿鏈変笉鏍″噯瑙嗚鍙傛暟鐨勬満鍣ㄤ汉鐨勯瞾妫 闀囧畾闂, 寰楀埌浜嗚繖绉嶆満鍣ㄤ汉鍦ㄥ浘鍍忓钩闈㈠唴鏂扮殑闈炲畬鏁磋繍鍔ㄥ绯荤粺鐨勪笉纭畾閾惧紡妯″瀷. 鍊熷姪浜庣姸鎬佺缉鏀惧拰鍒囨崲鎶€鏈? 瀵归潪瀹屾暣涓嶇‘瀹氶摼寮忔ā鍨嬫彁鍑轰簡鏂扮殑鎸囨暟闀囧畾鐨勬椂鍙樺弽棣堟帶鍒跺櫒, 骞剁粰鍑轰簡鎸囨暟闀囧畾鐨勪弗鏍艰瘉鏄? 浠跨湡缁撴灉楠岃瘉浜 鎺у埗鍣ㄨ璁＄殑鏈夋晥鎬? 鍏抽敭璇岤 闈炲畬鏁寸郴缁燂紱閾惧紡褰㈠紡锛涢晣瀹氾紱绉诲姩鏈哄櫒浜 涓浘鍒嗙被鍙耳 TP273 鏂囩尞鏍囪瘑鐮? A Robust exponential stabilization of nonholonomic kinematic systems with uncalibrated visual parameters LIANG Zhen-ying1a,2 , WANG Chao-li1b (1a. Business School锛?b. School of Optical-Electrical and Computer Engineering锛孶niversity of Shanghai for Science and Technology 锛孲hanghai 200093锛孋hina 锛?. School of Science锛孲handong University of Technology锛孼ibo 255049, China 锛嶤orrespondent 锛歀IANG Zhen-ying 锛孍-mail 锛歭zhenying@126.com) Abstract 锛氾細锛歍he visual servoing stabilization of nonholonomic mobile robots with uncertain camera parameters is investigated based on the visual feedback and the common chained form of type(1, 2) mobile robot. A new uncertain model of nonholonomic kinematic systems in the image plane for this kind of robots is obtained, which is a chained form with uncalibrated visual parameters. A novel time varying feedback controller is proposed for exponentially stabilizing the nonholonomic chained system with unknown parameters with help of state-scaling and switching technique. The exponential stability of the c