轮式移动机器人嵌入式自适应控制器设计与仿真  

Design and simulation of embedded model-free adaptive control system of wheeled mobile robots

作　　者：宋立博[1] 李劲松[1] 

机构地区：[1]上海交通大学工程训练中心,上海200240

出　　处：《控制理论与应用》2012年第9期1146-1150,共5页Control Theory & Applications

基　　金：国家自然科学基金资助项目(51075272);国际热核聚变实验堆(ITER)计划专项资助项目(2011GB113005)

摘　　要：在增加一阶输出信息基础上,改写了控制律算法准则函数,使用变分原理得出紧格式的改进无模型自适应控制(eMFAC)方程.以差动驱动移动机器人为研究对象,将非完整约束及传动系统误差作为外部干扰设计了具有前馈功能的Kalman改进无模型自适应控制(MFAC)运动控制器,证明了新控制方法的全局稳定性.FreeMAT仿真及ARM7系统控制实验证实了本方法的有效性.On the basis of variational principle, we derive the compact form of the enhanced model-free adaptive control method （eMFAC） and modify the control criterion function by adding the first order output signal. In designing the feedforward Kalman MFAC controller for a differential driving wheeled mobile robot, the nonholonomic constraint and the transmission error from motors to wheels in the driving transmission system are fed forward to the system for controlling the orientation angle and the motion velocity of the mobile robot. The global stability of the proposed control method is verified. Simulations are performed with the open-source freeware FreeMAT V4.0. Practical experiments are carded out on the ARM7 system. Results validate the effectiveness of the proposed method.

关 键 词：改进无模型自适应控制 轮式移动机器人 卡尔曼方法 变分原理 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]