一种球形机器人的非线性滑模运动控制  

Nonlinear Sliding-mode Motion Control of a Spherical Robot

作　　者：刘大亮[1] 孙汉旭[1] 贾庆轩[1] 

机构地区：[1]北京邮电大学自动化学院,北京100876

出　　处：《机器人》2008年第6期498-502,共5页Robot

基　　金：国家自然科学基金资助项目(50775013);国家863计划资助项目(2006AA04Z243)

摘　　要：基于非线性滑模控制方法,对一种欠驱动的球形机器人的运动控制问题进行了研究.球形机器人的输入由两个相互正交的力矩组成.在非完整约束的条件下,分别建立球形机器人的运动学和动力学模型,并通过输入变换将动力学模型变换为一个两输入的二阶系统.基于非线性滑模控制方法分别设计了横向姿态控制器和纵向速度控制器,可以保证被控的运动状态收敛到期望的邻域内.仿真和实验结果验证了所建立的动力学模型和控制方法的有效性.Based on nonlinear-sliding mode control, motion control of the under-actuated spherical robot is studied. Inputs of the spherical robot consist of two perpendicular torques. With nonholonomic constraint, kinematic and dynamic models of the spherical mobile robot are derived, and with the help of input transformation, the dynamic model is transformed into a second-order system with two inputs. Based on nonlinear sliding mode control, lateral attitude controller and longitudinal ve- locity controller are designed respectively to enable the controlled states to converge to the desired neighborhood. Simulation and experiment results confirm the validity of the presented dynamic model and control algorithm.

关 键 词：球形机器人 非完整约束 动力学建模 滑模控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]