轮式移动机器人的动力学建模及跟踪控制  

Dynamic Modeling and Tracking Control for Wheeled Mobile Robots

作　　者：梅红[1] 王勇[1] 

机构地区：[1]山东大学机械工程学院,山东济南250061

出　　处：《机床与液压》2009年第9期127-129,199,共4页Machine Tool & Hydraulics

基　　金：国家自然科学基金项目(50775130);山东省自然科学基金项目(Y2002F13)

摘　　要：针对轮式移动机器人存在非完整约束的特点,利用牛顿-欧拉方法建立了轮式移动机器人的动力学模型,将非完整约束直接融入到动力学方程中;同时,考虑了电机的动力学特性。针对动力学模型中存在参数不确定以及机器人在工作过程中存在外界干扰的特点,设计了以两轮驱动力矩为输入的滑模轨迹跟踪控制器,采用趋近律方法削弱了滑模控制器的抖振。仿真实验证明了模型的可行性和控制的有效性,较好地实现了机器人的全局轨迹跟踪。Newton-Euler approach was used to derive the dynamic model of wheeled mobile robot since wheeled mobile robot is subject to nonholonomic constraints. The motion constraints was incorporated as part of the derivation directly, and the dynamic eharaeteristcs of the motors was considered in the dynamic model. Since uncertain parameters and external disturbances exist during the working of the mobile robot, sliding mode trajectory tracking controller was designed in which the torque of the two wheels was the input. The reaching law was used to reduce the chattering of the controller. Simulation results illustrate the feasibility of the derived model as well as effectiveness of the proposed control strategy. The entire state of the system can track the desired state trajectories well.

关 键 词：轮式移动机器人 非完整约束 牛顿-欧拉方法 滑模控制 趋近律 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]