基于LMI的移动机器人鲁棒控制研究-控制理论与控制工程专业论文.docxVIP

一 一 达堕三些盔堂堡主堂垡鲨壅———— Abstract ● Since robots carl be regarded as a11 effective extension ofman’S motor abiliv，it is sure to be indispensable in the course ofrecognition and exploration ofthe world．Due to its important role in theory and application，motion con廿ol of mobfle robots have been given enough attention by researcher in the world． In recent ye．ars．there are two main problems being focused．n地one is problem of motion control for nonholonomic wheeled mobile robot,the other is anti interference in mobile robot’S motion．The former has huge challenge for nonholonomic constraints in the cour