一种基于反步法的移动机器人运动控制算法  

A Mobile Robotic Motion Control Algorithm Based on the Back-step Theory

作　　者：段文杰[1] 武颖[2] 刘大亮[3] 

机构地区：[1]山西农业大学工学院,山西太谷030801 [2]太原理工大学机械工程学院,山西太原030013 [3]首都航天机械公司,北京100076

出　　处：《山西农业大学学报（自然科学版）》2012年第3期277-280,共4页Journal of Shanxi Agricultural University(Natural Science Edition)

摘　　要：针对球形机器人、独轮机器人和双轮机器人的一种共同运动方式,提出一种稳定的运动控制算法。首先,将运动控制方式简化为平面内均质圆盘的垂直运动,并基于拉格朗日法建立了具有链式形式的非完整运动模型;其次,利用反步法设计一种反馈控制算法,并证明了该算法是原点渐进稳定的。仿真结果表明该算法是可行的、有效的。A stable motion control algorithm was designed to develop the motion methods of three kinds of robots including spherical robot, unicycle robot and two-wheeled robot. First, the motion methods were simplified to a vertical motion of a circle plate in the plane and the chained non-holonomic motion model was developed using the Lagrangian approach. Then, a feed- back control algorithm, which was proved to be asymptotically stable, was designed based on the back-step theory. The simu- lation results showed that the developed algorithm was feasible and effective.

关 键 词：球形机器人 独轮机器人 双轮机器人 反步法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]