Robust Stabilization of Uncertain Kinematic Systems in Nonholonomic Mobile Robots with One Trailer

作     者：WANG Chaoli1,YANG Fang2,LIU Yunhui3,LIANG Zhenying4 1.Control Science and Engineering Department,University of Shanghai for Science and Technology(USST),Shanghai 200093,P.R.China2.Business School,USST,Shanghai 200093 School of Science,Ningbo University of Technology,Ningbo 315211,P.R.China 3.Dept.of Mechanical and Automation Engineering,The Chinese University of Hong Kong,Satin,NT,Hong Kong,P.R.China4.Business School,USST,Shanghai 200093 School of Science,Shandong University of Technology,255049,P.R.China 

会议名称：《第二十九届中国控制会议》

会议日期：2010年

学科分类：0711[理学-系统科学] 07[理学] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

基　　金：supported by the National Science Foundation(60874002) Key Project of Shanghai Education Committee(09ZZ158) Key Discipline of Shanghai(S30501) 

关 键 词：Nonholonomic Kinematic Mobile Robot Uncertain Chained Form Stabilization 

摘      要：Based on visual servoing feedback,this paper provides a novel uncertain model of the kinematic systems in nonholo-nomic mobile robots with one trailer with uncalibrated visual servoing *** strongly nonlinear disturbances and drift terms in its uncertain chained form of this model fails to meet the so called triangularity *** methods available in the literatures are not suitable to be used to investigate its stabilizing problem of the *** order to deal with this difficulty,the special structure of the systems is exploited to design the stabilizing controller,which is divided into three *** the first phase,a newly state transformation is exploited to propose a stabilizing controller to make most of the states of the system tends to zero only excepts one *** the second phase,the left state is stabilized and the other states remain little change by designing another *** the final phase,the control inputs can be set *** states remain ***,the simulation is presented to illustrate the stabilizing performance of the developed control algorithm.