轮式移动机器人的Back-stepping滑模模糊自适应轨迹跟踪控制  

Trajectory Tracking with Back-stepping Sliding Mode Fuzzy Adaptive Control for Wheeled Mobile Robot

作　　者：赖欣[1] 陆阳 周乐 马伟 Lai Xin;Lu Yang;Zhou Le;Ma Wei(School of Mechanical and Electrical Engineering,Southwest Petroleum University,Chengdu 610500,China)

机构地区：[1]西南石油大学机电工程学院,成都610500

出　　处：《机械科学与技术》2018年第12期1834-1840,共7页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家安监局2018安全生产重大事故防治关键技术项目(sichuan-0006-2018AQ);石油天然气装备教育部重点实验室项目(OGE201702-06);西南石油大学科研启航计划项目(2015QHZ010)资助

摘　　要：为提高两轮驱动轮式移动机器人轨迹跟踪控制的精度,依据轮式移动机器人的运动学和动力学方程,提出了一种具有全局渐进稳定性的控制方法。首先基于Back-stepping建立了轮式移动机器人的运动学控制器;其次通过滑模控制方法建立轮式移动机器人的动力学控制器;然后加入模糊控制系统调节滑模增益以削弱抖振;最后对系统的未知扰动建立自适应控制规律,并证明了其稳定性。以跟踪直线、圆、类正弦轨迹为例进行了仿真研究,验证了该控制方法的有效性。In order to improve the control precision of the trajectory tracking of a two-wheel driving wheeled mobile robot,a global asymptotic stability control method is proposed based on its kinematics and dynamics equations model.Firstly,the kinematics controller of the wheeled mobile robot is built based on back-stepping.Secondly,the dynamic controller of the wheeled mobile robot is established with the sliding mode control method.Then,the control law parameters of fuzzy control setting is added to weaken the chattering.Finally,the adaptive control law is established for the unknown disturbance of the wheeled mobile robot,and its stability is proved.The simulation is carried out to track its straight line,circle and sine-like wave,thus verifying the effectiveness of the control method.

关 键 词：机器人 滑模控制 模糊控制 自适应控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]