基于速度观测器的移动机器人轨迹跟踪控制  

Research on Trajectory Tracking Control of Mobile Robots Based on Velocity Observer

作　　者：耿军晓[1] 邢琳芬[1] 张志远[1] 

机构地区：[1]郑州轻工业学院,郑州450002

出　　处：《徐州工程学院学报（自然科学版）》2010年第3期13-18,共6页Journal of Xuzhou Institute of Technology(Natural Sciences Edition)

基　　金：国家自然科学基金项目(50875246)

摘　　要：提出了一种无需纵向速度测量的新的移动机器人轨迹跟踪控制方法,可以采用速度观测器替代纵向测量装置来确定移动机器人的运动速度.设计了一种基于速度观测器的轨迹跟踪控制器.控制器设计是以轮式及履带式移动机器人模型及其所采用的驱动电机数学模型为基础,具有两种实用性能:(1)控制器不需要很精确的移动机器人模型参数和驱动电机参数,就可以很好地在一个闭环控制系统中减小跟踪误差;(2)在理论上仅需要通过一个设计参数的设置就能够有效地控制跟踪误差范围.A new robust trajectory tracking control scheme for wheeled mobile robots based on velocity observer is proposed in this paper.In the proposed controller,a velocity observer is used to estimate the longitudinal velocity of a wheeled mobile robot.A wheeled mobile robot model,including motor dynamics,is used to develop the controller.The developed controller has the following useful properties.（1）The developed controller does not require any accurate knowledge of the robot parameters or the motor parameters.Even if there are uncertainties in the robot dynamics,including the motor properties,it is certain that tracking errors ultimately become uniformly bounded in a closed-loop system using the developed controller.（2）It is shown theoretically that the ultimate norms of tracking errors can easily be reduced by setting only one design parameter.

关 键 词：移动机器人 轨迹跟踪控制 速度观测器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]