摘要
基于滑模变结构控制理论,针对移动机器人这类非完整系统,提出了一种准滑模控制方法。该方法利用李雅普洛夫函数和指数趋近律方法,设计移动机器人的控制律,结合准滑模方法,使用饱和函数代替符号函数,以降低因采用滑模变结构控制方法而产生的抖振。运用所提出的方法设计了轮式移动机器人的控制系统并进行了仿真,仿真结果验证了所提出的控制策略的有效性,并且能够有效地降低系统的抖振。
Based on the sliding mode variable structure control theory,a quasi sliding mode control algorithm is proposed for a nonholonomic mobile robot system.The Lyapunov function and exponential approximation law are used for designing the control law of the mobile robot,and combined with the pseudo sliding mode algorithm which is using saturation function instead of sign function to reduce the chattering that caused by the characteristic of the sliding mode variable structure control.Finally,the control law is designed and simulated by the proposed algorithm for the wheeled mobile robot,and the simulation results show that the proposed algorithm is efficient,and also can reduce the chattering of the system.
出处
《机械设计与制造》
北大核心
2010年第8期173-175,共3页
Machinery Design & Manufacture
基金
国家自然科学基金(50375071)
国防科工委预研(C4220062501)
关键词
滑模变结构控制
移动机器人
准滑模
Sliding mode variable structure control
Mobile robot
Quasi sliding mode
