一种输入有界的四轮全向机器人轨迹跟踪控制方法  

A Trajectory Tracking Control Strategy with Bounded Input for Four-Wheel Drive Omni-Directional Mobile Robots

作　　者：王建彬 陈建平[1] WANG Jian-bin;CHEN Chang-xing(School of Computer Science and Software,Zhaoqing University, Zhaoqing 526061)

机构地区：[1]肇庆学院计算机科学与软件学院

出　　处：《现代计算机》2019年第17期39-42,50,共5页Modern Computer

基　　金：广东省自然基金项目(No.2016A030313015);广东省教育厅青年创新类人才项目(No.2016KQNCX175);肇庆市创新指导类项目(No.201624030902、2016040309);肇庆学院质量工程及教改项目(No.zlgc201842、2016019438);实践教学改革研究项目(No.sjjx201812)

摘　　要：由于四轮全向移动机器人轨迹跟踪控制中存在速度突变,导致控制量往往超过其约束限制,针对这一问题,提出一种输入有界的抑制速度突变的轨迹跟踪控制方法。首先基于李雅普诺夫稳定性定理设计出四轮全向机器人的速度控制器,接着通过引入一个合理的有界函数来克服速度突变问题。MATLAB仿真结果显示,对于不同的目标跟踪曲线,即使存在较大的初始误差,机器人均能很好地跟踪期望轨迹,控制量未超出其限制,有效地抑制速度突变问题。Because of the speed jump existing in conventional tracking control for four-wheel drive omni-directional mobile robots, the outputs usually exceed their boundaries, to solve this problem, proposes a trajectory tracking controller based on a bounded function (TTCBF). With the smoothness and boundedness of the output from the TTCBF, it produces a gradually varying tracking speed instead of the jumping speed, and the parameters are designed to keep the control values in the given confine. Simulation results of different paths show that the approach is effective, and the system has a good performance with smooth output.

关 键 词：四轮驱动 全向机器人 有界函数 轨迹跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]