摘要
针对Mecanum轮型扫地机器人在车轮打滑和重心偏移等不确定非线性因素影响下的轨迹跟踪精度问题,提出了一种基于修正动力学模型的轨迹跟踪控制方法。首先,对机器人进行了运动学与动力学分析。然后,根据外界干扰及参数估计的不确定性对动力学模型进行了修正,设计了双环积分滑模控制器,并通过Lyapunov函数证明了控制系统的稳定性。最后,在不同扰动作用下,以圆为参考轨迹进行跟踪仿真,结果表明:该控制系统具有较好的抗干扰性和鲁棒性,避免了因不确定性参数估计带来的建模误差,为扫地机器人在实际轨迹跟踪控制运用中奠定了理论基础。
Aimed at the problem that the wheel slip and other uncertain nonlinear factors affect the trajectory tracking accuracy of sweeping robot with Mecanum wheels,a trajectory tracking control method based on modified dynamic model is presented. Firstly,the kinematics and dynamics analysis of the robot were carried out. Thereafter,in view of the uncertainty of external disturbance and parameter estimation,a dual-loop integral sliding mode control method was designed by correcting the dynamic model,and the stability of the system was proved by Lyapunov function. Finally,under different disturbance,a circle was taken as the reference trajectory for tracking simulation. The results shows that the control system has better antiinterference and robustness,and avoids the modeling error caused by the uncertainty parameter estimation,which lays a theoretical foundation for the sweeping robots in the actual trajectory tracking control.
作者
姜颖韬
康升征
JIANG Ying-tao;KANG Sheng-zheng(Department of Mechanical and Electrical Engineering,Suzhou Institute of Industrial Technology,Jiangsu Suzhou 215104,China;College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing Jiangsu210016,China)
出处
《机械设计与制造》
北大核心
2018年第5期207-210,共4页
Machinery Design & Manufacture
基金
江苏省自然科学基金(BK20160352)
