不确定曲面上轮式移动机器人鲁棒轨迹跟踪  

Robust Trajectory Tracking of Wheeled Mobile Robots Moving on Uncertain Uneven Surface

作　　者：董国华[1] 祝晓才[1] 刘振[1] 蔡自兴[2] 胡德文[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,湖南长沙410073 [2]中南大学信息科学与工程学院,湖南长沙410083

出　　处：《南京理工大学学报》2008年第1期18-22,27,共6页Journal of Nanjing University of Science and Technology

基　　金：国家自然科学基金重点项目(60234030);国家杰出青年科学基金(60225015)

摘　　要：对于不确定曲面上运动的轮式移动机器人设计了鲁棒跟踪控制律,并给出稳定性证明。设计过程中用系数未知但有界的二次曲面在局部近似不确定曲面,首先构造有界横截函数推导光滑标称跟踪控制律,然后通过backstepping方法将该光滑控制律拓展到动力学模型,最后利用Lyapunov重设计技术构造出鲁棒控制律解决曲面引入的重力干扰。所设计的控制律使得轮式移动机器人具有对不同曲面参数的适应能力。仿真结果验证了控制律的有效性。Robust control laws are proposed for the trajectory tracking problem of wheeled mobile robots moving on a uncertain uneven surface, and the stability of the colsed-loop system is proved. Quadratic surfaces with unknown but bounded coefficients are utilized to locally approximate the uneven surfaces. A bounded transverse function is constructed to derive smooth nominal tracking control laws. The control laws are extended to the dynamic system with integrator backstepping. They are robustified by using Lyapunov redesign technique to handle the disturbance of the gravity caused by uneven surfaces. Driven by the proposed control laws, the wheeled mobile robots have the ability of adaptation to varying uneven surface condition. Some simulations are provided to validate the effectiveness of the control laws.

关 键 词：轮式移动机器人 横截函数 鲁棒控制 轨迹跟踪 不确定曲面 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]