摘要
针对轮式移动机器人纵向打滑状态下滑动参数未知的轨迹跟踪控制问题,提出了一种轨迹跟踪控制方法。建立了纵向打滑状态下移动机器人的运动学模型,用滑动参数表示左右轮的打滑程度;设计合适的滑模观测器对未知的滑动参数进行估计,并通过低通滤波器减少抖振对估计结果产生的影响;基于Lyapunov直接法设计轨迹跟踪控制律,并提出了一种根据控制系统的极点分布确定控制参数的方法。仿真结果验证了所提方法的准确性和有效性。
An trajectory tracking control of mobile robots was presented based on wheeled mobile robots with unknown longitudinal slip parameters.Firstly,the kinematic model of the mobile robots under longitudinal slips was established,and the sliding parameters were used to express the slip degrees of the left and right wheels.Then,a suitable sliding mode observer was designed to estimate unknown slip parameters,and the influences of chatters on estimation of slip parameters were reduced by using the lowpass filters.Finally,a trajectory tracking control law was designed based on Lyapunov direct method,and a method of determine the control parameters was proposed according to the pole distributions of the control systems.Numerical simulation results show that the proposed trajectory tracking control method is accurate and effective.
作者
贝旭颖
平雪良
高文研
BEI Xuying;PING Xueliang;GAO Wenyan(School of Mechanical Engineering,Jiangnan University,Wuxi,Jiangsu,214122;The Key Laboratory for Advanced Food Manufacturing Equipment and Technology of Jiangsu Province,Wuxi,Jiangsu,214122)
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2018年第16期1958-1964,共7页
China Mechanical Engineering
基金
国家自然科学基金资助项目(61305016)
江苏省研究生科研创新计划资助项目(KYLX16_0771)
关键词
轮式移动机器人
纵向打滑
滑模观测器
轨迹跟踪
wheeled mobile robot
longitudinal slip
sliding mode observer
trajectory tracking
