仿射运动学约束不确定非完整系统的镇定及跟踪控制

This project is concerned with the stabilization and tracking control problems of uncertain nonholonomic system with affine kinematics constraints. By constructing the nonlinear state transformation and input state feedback transformation, the affine constraints kinematics system with uncertainty can be transformed, either locally or globally, to a system in chained or power form. On this basis we will discuss its stability theory and stabilization control. When the kinematics system has the affine constraints and the dynamic system possesses the uncertainties, tracking control problems are considered via the adaptive technique，the method of backstepping and the differential-algebraic control system theory. Moreover, considering that the mentioned system models in the project have practical significances, such as the mobile manipulator, a boat on a running river and so.on, simulation examples of realistic physical models will validate the.effectiveness of the proposed control schemes.

本课题研究具有仿射运动学约束的不确定非完整系统的镇定及跟踪控制问题. 对带有不确定性且满足仿射约束的运动学模型, 构造非线性状态变换和输入状态反馈变换全局或局部地将其转化为链式形式或者幂形式的系统, 研究系统的稳定性、镇定控制问题. 对具有非线性不确定的动力学系统和仿射约束运动学系统构成的非完整系统, 应用自适应技术、 backetpping方法, 微分-代数控制系统理论等研究系统的跟踪控制问题. 本课题所考虑的系统模型具有实际的应用背景, 如移动机械手、行驶在河流中的船舶等, 对于所提出的控制方案均通过实际物理模型的仿真算例来验证其有效性.

本课题以具有不确定参数和仿射运动学约束的非完整系统为研究对象，深入研究其稳定性、跟踪控制等问题。应用自适应技术、 反步设计, 自适应模糊控制理论等方法研究系统的跟踪控制问题。另一方面，系统状态约束和输出约束是自动控制系统设计不可忽视的重要因素，忽视这一因素可能导致系统不稳定，给控制系统的稳定性分析带来困难。本项目围绕若干带有状态约束或输出约束的非线性系统，研究了系统的控制器设计、稳定性分析等问题，获得了一系列创新成果。