农业轮式移动机器人反演自适应滑模轨迹跟踪控制  

INVERSION ADAPTIVE SLIDING MODEL PATH TRACKING CONTROL OF AGRICULTURAL WHEELED MOBILE ROBOT

作　　者：彭继慎[1] 仇文超 李军锋 李逃昌[1] 宋立业[1] Peng Jishen;Qiu Wenchao;Li Junfeng;Li Taochang;Song Liye(School of Electrical and Control Engineering,Liaoning Technical University,Huludao 125105,Liaoning,China;Changzhou Institute of Optoelectronic Technology,Changzhou 213000,Jiangsu,China)

机构地区：[1]辽宁工程技术大学电气与控制工程学院,辽宁葫芦岛125105 [2]常州光电技术研究所,江苏常州213000

出　　处：《计算机应用与软件》2019年第11期86-90,共5页Computer Applications and Software

基　　金：国家自然科学基金项目(51274118);大型农业轮式移动机器人自动导航控制研究项目(201601364)

摘　　要：为提高农业轮式移动机器人路径跟踪控制的鲁棒性,提出一种基于农业轮式移动机器人反演自适应滑模控制策略。运用反演控制设计其运动学控制律,保证位置跟踪误差渐进收敛到零;根据动力学模型,设计自适应滑模动力学控制律,实现农业轮式移动机器人左右轮平稳的运行;运用李雅普诺夫定理保证闭环系统的最终一致稳定性。仿真实验验证了该方法的有效性和优越性,能够实现正弦型曲线路径跟踪。In order to improve the robustness of the path tracking control of agricultural wheeled mobile robots,this paper proposed an adaptive sliding film control strategy based on agricultural wheeled mobile robots.The kinematics control law was designed by using the inversion control,and it ensured that the position tracking error gradually converged to zero.According to the dynamic model,the adaptive synovial dynamic control law was designed,and then the agricultural wheeled mobile robot was realized.we used Lyapunov s theorem to ensure the ultimate consistent stability of the closed-loop system.Simulation experiments verify the effectiveness and superiority of the proposed method and enable sinusoidal curve path tracking.

关 键 词：农业轮式移动机器人 反演控制 自适应滑模 路径跟踪 动力学模型 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]