摘要
针对麦克纳姆全向轮驱动的移动机器人轨迹跟踪控制问题,设计了一种自适应滑模控制器。将自适应鲁棒控制应用于麦克纳姆轮驱动的移动机器人轨迹跟踪以获得良好的动态跟踪性能以及鲁棒性能。首先对基于麦克纳姆轮的移动机器人进行了运动学建模,在此基础上进行了自适应鲁棒控制器设计。提出了一种比例-积分-微分(PID)形式的滑模面,满足了系统的鲁棒性要求;设计了一种能够快速收敛的趋近律,减少了整定参数所消耗的时间并能有效抵抗外部扰动。最后,存在脉冲扰动以及正弦信号扰动条件下对控制器进行了仿真验证,证明了所提控制器的优越性,通过轨迹跟踪控制的样机试验,证明了该方法的实用性和可靠性。
An adaptive sliding mode controller was designed for a mobile robot driven by four mecanum wheels. The original contribution of this paper is employing adaptive robust controller to mecanum wheels driven mobile robot for obtaining better tracking and robustness performance. To complete the design of the controller, the kinematic model of the mobile robot driven by mecanum wheels was firstly proposed. An adaptive robust controller was designed sub- sequently. A sliding surface was designed in Proportional-Differential-Integral form, which satisfied the robustness requirements of the system. Besides, a reaching law which has quick convergence was introduced, which reduced the time consumed by the setting parameters and resisting external disturbance. The controller was demonstrated in the presence of impulsive disturbance and sinusoidal signal disturbance, which proved the superiority of the pro- posed controller. Finally, an experimental verification of trajectory tracking was implemented to verify the practica- bility and effectiveness.
作者
王明明
朱莹莹
张磊
王璐
卫宣伯
方静
Wang Mingming;Zhu Yingying;Zhang Lei;Wang Lu;Wei Xuanbo;Fang Jing(School of Astronautics,Northwestern Polytechnical University,Xi＇an 710072,China;Research Institute in Shenzhen,Northwestern Polytechnical University,Shenzhen 518057,China;Special Police of China,Beijing 102202,China)
出处
《西北工业大学学报》
EI
CAS
CSCD
北大核心
2018年第4期627-635,共9页
Journal of Northwestern Polytechnical University
基金
深圳市未来产业专项资金(JCYJ20160531174213774)
国家自然科学基金(61603304
61690210
61690211)资助
关键词
轨迹跟踪
控制器
鲁棒控制器
自适应
滑模控制
麦克纳姆轮
trajectory tracking
controllers
robust control
adaptive
sliding mode control
mecanum wheel
