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Robust control design for home pension service mobile robots with passive and servo constraints.
Science Progress ( IF 2.1 ) Pub Date : 2020-09-03 , DOI: 10.1177/0036850420952219
Yating Zhao 1, 2 , Xiaolong Chen 3 , Han Zhao 3
Affiliation  

This paper presents a novel robust control design for a class of home pension service mobile robots (HPSMRs) with non-holonomic passive constraints, based on the Udwadia-Kalaba theory and Udwadia control. The approach has two portions: dynamics modeling and robust control design. The Udwadia-Kalaba theory is employed to deal with the non-holonomic passive constraints. The frame of the Udwadia control is employed to design the robust control to tracking the servo constraints. The designed approach is easy to implement because the analytical solution of the control force can explicitly be obtained even if the non-holonomic passive constraints exists. The uniform boundedness and uniform ultimate boundedness are demonstrated by the theoretical analysis. The effectiveness of the proposed approach is verified through the numerical simulation by a HPSMR.



中文翻译:

被动和伺服约束家庭养老服务移动机器人鲁棒控制设计

本文基于 Udwadia-Kalaba 理论和 Udwadia 控制,提出了一种新型的针对具有非完整被动约束的家庭养老服务移动机器人(HPSMR)的鲁棒控制设计。该方法分为两个部分:动力学建模和鲁棒控制设计。Udwadia-Kalaba理论被用来处理非完整被动约束。采用 Udwadia 控制框架来设计跟踪伺服约束的鲁棒控制。所设计的方法易于实现,因为即使存在非完整被动约束,也可以明确地获得控制力的解析解。通过理论分析证明了一致有界性和一致极限有界性。通过 HPSMR 的数值模拟验证了该方法的有效性。

更新日期:2020-09-03
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