轮式移动机器人滑移补偿鲁棒控制  

Robust Anti-Sliding Control of Wheeled Mobile Robots

作　　者：方浩[1] 范瑞霞[1] 

机构地区：[1]北京理工大学信息科学技术学院自动控制系,北京100081

出　　处：《北京理工大学学报》2008年第9期786-789,共4页Transactions of Beijing Institute of Technology

基　　金：北京理工大学优秀青年教师基金(1010012047111)

摘　　要：提出了滑移补偿鲁棒控制策略.首先建立包含滑移因素的移动机器人运动学模型,其中滑移量以附加的有界扰动形式引入.借助链式系统理论,将带有滑移扰动的系统运动学模型转化成为一个标准的受扰链式模型,利用该模型的数学结构可以方便地设计变结构鲁棒控制器.由稳定性分析可知,滑移补偿鲁棒控制器可以保证法向控制误差的收敛以及姿态误差有界.仿真实验表明,设计的滑移补偿鲁棒控制器可以有效地消除滑移因素对轨线控制精度的负面影响,提高移动机器人在复杂地形条件下的可操作能力.To cope with the problem of path following control of wheeled mobile robots in the presence of sliding, a robust anti-sliding controller is designed. A kinematic model which takes sliding effects into account as bounded additive disturbances is built up. Based on chained system theories, the kinematic model is transformed into a normal perturbed chained system which makes it quite straightforward to design a variable structure controller. The stability of the proposed controller is proven which yields convergence of lateral control errors and bounded orientation errors. Simulation results showed that the proposed robust controller can moderate negative sliding effects and improve lateral control accuracy in spite of sliding. The results are also very important for safety control of vehicles.

关 键 词：移动机器人 鲁棒控制 滑移补偿 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]