基于反步法的有限时间机器人环航控制器设计

以二维运动目标的环航跟踪为背景，在非完整机器人速度受限情形下，设计了一类以规定环绕速率沿固定半径跟踪目标的控制器.首先，由极坐标系下的环航系统模型，利用反步法给出了一种使系统达到渐近稳定的控制器.进一步，考虑机器人在有限时间内达到跟踪要求的工程需求，利用饱和函数和Lyapunov稳定性理论，设计了一种使机器人运动轨迹在有限时间内收敛到期望轨迹的有限时间饱和控制器.最后，数值算例验证了所提控制律的有效性.

Finite-time Standoff Tracking Control of Moving Target by Means of Backstepping for Non-holonmic Robot

To realize the standoff tracking of a moving target with the prescribed radius and circular velocity, this paper presents the control strategies that enable the trajectory of non-holonomic robot to converge to the desired circule with speed constraints. A controller in the polar coordinate system is proposed by means of the backstepping technique, which realizes the asymptotic convergence of the desired motion trajectory. Then, by using the finite-time Lyapunov stability theorem and saturated function, a control law is developed to ensure both relative distance and circular velocity convergences to the prescribed values in a finite time. Finally, simulation results verify the effectiveness of the proposed control laws.