论文标题
两轮差速器移动机器人的强大渐近稳定性
Robust asymptotic stability of two-wheels differential drive mobile robot
论文作者
论文摘要
本文提出了针对具有系统和离散时间域中测量噪声的非实际差速器驱动机器人的稳定运动控制法设计方法。此方法是基于将机器人的操作配置分为两个部分的基础：全球和本地配置，然后根据Lyapunov稳定理论设计控制定律，以进行两种配置。拟议的稳定控制定律能够从任何初始条件中甚至系统中的现有噪声渐近地达到目标位置和方向。一些仿真结果证明了提出的方法的效果。
The paper proposes the stable motion control law design method for non-honomic differential-drive mobile robot with system and measurement noise in discrete time domain. This method is performed basing on dividing operating configuration of robot into two parts: glocal and local configuration then the control law is designed following Lyapunov stable theory for two configuration. The proposed stable control laws is able to reach asymptotically stably to target position and orientation from any initial conditions even existing noise in the system. Some simulation results have demonstrated the effect of proposed method.
