轮式移动焊接机器人自适应反演滑模控制  

Adaptive Backstepping Sliding Mode Control for Wheeled Mobile Welding Robot

作　　者：张森 张元亨 普杰信 金超 杨婷婷 ZHANG Sen;ZHANG Yuan-heng;PU Jie-xin;JIN Chao;YANG Ting-ting(School of Information Engineering,Henan University of Science and Technology,Luoyang 471023,China)

机构地区：[1]河南科技大学信息工程学院,河南洛阳471023

出　　处：《火力与指挥控制》2018年第7期65-70,共6页Fire Control & Command Control

基　　金：国家自然科学基金(61304144;U1504619;61503124);河南省科技攻关资助项目(162102210073)

摘　　要：针对带有未知参数和有界干扰的非完整轮式移动焊接机器人的轨迹跟踪控制问题,从移动焊接机器人的运动学和动力学模型出发,结合自适应反演方法,提出了一种新型滑模变结构控制策略。采用滑模控制算法来抑制有界干扰,反演方法来提高系统的全局渐进稳定性,根据Lyapunov稳定性理论,将移动焊接机器人系统分成多个稳定的子系统,设计自适应控制律实现对总不确定上界的估计从而减弱系统的抖振,使参数摄动及外部扰动存在的情况下系统跟踪误差依旧收敛,满足了轨迹跟踪控制的要求。将提出的控制策略与常规的滑模控制算法进行对比分析,仿真结果表明了该控制策略的有效性。To solve the problem of trajectory tracking for nonholonomic wheeled welding robot with parameter uncertainties and bounded disturbances, a new sliding mode controller based on the kinematic and dynamic models of the wheeled mobile welding robot is proposed combined with adaptive backstepping method. The control strategy adopts sliding mode control to supress bounded disturbance,applying backstepping method to improve global ultimate asymptotic stability of the system,according to the Lyapunov stability criterion,the system of mobile welding robot is divided into several stabilizing subsystems,and the adaptive controller is designed to estimate the upper bound of general uncertainty so as to weaken the chattering of the system,which makes the tracking error of the system to converge to zero even in the presence of parameter perturbation and disturbance,met the control requirement of trajectory tracking. Simulation results are given to illustrate the effectiveness of the proposed control strategy in comparison with conventional sliding mode controller.

关 键 词：轨迹跟踪 自适应反演 滑模变结构 有界干扰 LYAPUNOV稳定性理论 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]