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提出自主式智能体在有限时间内的停车控制问题.基于极坐标系下自主式智能体的非线性运动模型,将智能体运动控制系统分解为原地转动的线性系统和直线运动、转动结合的弱非线性系统两种形式.利用Lyapunov设计方法,得到在有限时间内智能体到达给定停车区域的切换控制律,并给出到达给定区域所需时间的估算公式.仿真算例表明了所提出控制方法的有效性.
Aiming at the parking control problem of autonomous agent in a limited time.According to the nonlinear motion model of autonomous agent in polar coordinate system, the intelligent motion control system is decomposed into the linear system and the linear motion which rotate in situ, Weakly nonlinear system.Using Lyapunov design method, the switching control law of the agent reaching a given parking area in a finite time is obtained, and the estimation formula of the time required to arrive at a given area is given.The simulation results show that Put forward the effectiveness of the control method.