移动机器人的自适应模糊滑模动力学控制  

Dynamic control of mobile robots based on an adaptive fuzzy sliding mode

作　　者：王宗义[1] 李艳东[1,2] 刘涛[1] 于占东[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]齐齐哈尔大学计算机与控制工程学院,黑龙江齐齐哈尔161006

出　　处：《哈尔滨工程大学学报》2011年第6期792-799,共8页Journal of Harbin Engineering University

基　　金：国家自然科学基金资助项目(60804009);黑龙江省自然科学基金资助项目(AF200921)

摘　　要：针对非完整移动机器人轨迹跟踪控制问题,提出了一种基于自适应分流运动学控制与自适应模糊滑模动力学控制的混合控制算法.自适应分流运动学控制解决了由于大范围的初始位姿偏差变化而引起的速度跳变问题.利用滑模控制具有的稳定性和鲁棒性的优点,解决了机器人的参数与非参数不确定性问题.并通过带有自适应调节算法的模糊控制来调节滑模控制的增益,增强了对随机不确定性的适应能力,消除了在滑模控制中的输入抖振现象.设计过程采用了Lyapunov方法,保证了控制系统的稳定与收敛.仿真结果表明,控制器产生了平滑的速度输出,非完整移动机器人的跟踪误差被消除.A hybrid control algorithm was proposed based on an adaptive shunting kinematic control and an adaptive fuzzy sliding mode dynamic control for the trajectory tracking control of nonholonomic mobile robots.The proposed adaptive shunting kinematic control method solves the speed jump caused by the large error of initial pose.Parameters and non-parameter uncertainties of a mobile robot can be solved by using a robust control which takes advantage of stability and robustness in a sliding mode control.The gain of a sliding mode control was adjusted by using the fuzzy control with an adaptive tuning algorithm,which enhanced the adaptability for random uncertainty and eliminated the input chattering of the sliding mode control.The stability and convergence of the control system were proven by using the Lyapunov method.The simulation results demonstrate that the controller has a smooth velocity output,and the tracking errors of a nonholonomic mobile robot are eliminated.

关 键 词：自适应分流模型 自适应模糊滑模控制 运动学控制 动力学控制 轨迹跟踪 移动机器人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]