针对轮式移动机器人(Wheeled Mobile Robot, WMR)轨迹跟踪中存在的速度跳变和未知系统扰动,提出一种新型轨迹跟踪控制策略。该策略基于反演技术,分别设计WMR系统的运动学控制器和动力学控制器。在运动学控制器中,采用分流技术克服了轨迹跟踪初期的速度跳变问题；在动力学控制器中,将模糊干扰观测器与自适应滑模控制结合,有效解决了未知系统扰动对控制性能的影响,并且消除了传统滑模控制的抖振现象。通过Lyapunov稳定性理论,证明了该控制策略的稳定性。仿真研究表明,该控制策略具有较小的速度跳变,控制信号抖振较小,并对系统扰动具有强鲁棒性。
Aiming at the velocity jump and unknown system disturbance in the trajectory tracking of wheeled mobile robot (WMR), a new control scheme is proposed in this paper. By using the backstepping technique, the kinematics controller and dynamic controller are designed respectively. The shunting technique is adopted in the kinematics controller to cope with the problem of velocity jump at the beginning of the trajectory tracking. In the dynamic controller, the fuzzy disturbance observer and adaptive sliding mode control are combined to effectively solve the influence of unknown system disturbance on the control performance, and eliminate the chattering phenomenon in the traditional sliding mode control. The stability of the control scheme is proved by the Lyapunov stability theory. Simulation results show that the control scheme has a small velocity jump. At the same time, the control signal has less chattering and strong robustness to system disturbance.
郭文东,魏莹,李振阳,等. 基于模糊干扰观测器的移动机器人自适应滑模跟踪控制[J]. 科学技术与工程, 2021, 21(36): 15529-15536.
Guo Wendong, Wei Ying, Li Zhenyang, et al. Adaptive Sliding Mode Tracking Control for Wheeled Mobile RobotBased on Fuzzy Disturbance Observer[J]. Science Technology and Engineering,2021,21(36):15529-15536.