Optimal Control Method for Robot-Tracking Based on Control-Lyapunov-Function

摘要

A control Lyapunov function (CLF)-based optimal control method is proposed to solve an affine nonlinear system with input limitation for the wheeled robot. Motivated by Lyapunov stability theory, viability theory, and exact linearization and sliding mode control, the construction of the CLF uses the information of the multi-order derivatives of the system outputs. The result shows the stability depends on the controller coefficients and the input limitation. Thus, the sufficient conditions are given and proved for stable controller design. The proposed control method provides a new robust regulation map to an affine nonlinear system for high-dimensional trajectory tracking. A simulation of multi-agent wheeled robot formation is designed to illustrate the application of the proposed controller. Meanwhile, the validation and feasibility of the controller are also verified by the simulation.