摘要
为了解决轮式移动焊接机器人的焊缝跟踪问题,从移动焊接机器人的运动学和动力学模型出发,采用分段运动学到动力学的方法设计焊缝跟踪控制器。控制算法结合积分Backstepping算法和单层神经元网络控制算法,利用单层神经元网络的自学习和自适应能力克服机器人模型参数部分未知和扰动的影响,使跟踪更加快速、平滑。在选定系统Lyapunov函数基础上,证明了所选取的控制力矩输入使系统全局渐进稳定。经MATLAB仿真验证了该控制算法的有效性。
To solve the seam tracking problem of the welding mobile robot, a new control controller based on the dynamics and kinemics models of the welding mobile robot was designed by the method of backstepping kinematics into dynamics. To make the tracking more quickly and smoothly, it combined the integral algorithm Backstepping with the control algorithm of the monolayer nerve cell network as its control algorithm and utilized the self-learning neural network to deal with the partial uncertainty and the disturbances of the parameters of the robot model It is proved that the selected control input torques make the system globally asymptotically stable based on the Lyapunov function selected out. Finally, the effectiveness of the controller is demonstrated by simulation results.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2009年第21期6803-6806,共4页
Journal of System Simulation
基金
河北省教育厅科学研究计划项目(2007309)
国家高技术研究发展计划(863)项目(2007AA04Z209)
国家反恐科技专项(2005FK230002)
