基于滑模变结构的轮式机器人双环轨迹跟踪控制  

The Double-Loops Trajectory Tracking Control of Wheeled Mobile Robot Based on Sliding Mode Variable Structure

作　　者：肖光飞[1] 胡秋霞[1] 韩磊[1] 赵津[1] XIAO Guang-fei;HU Qiu-xia;HAN Lei;ZHAO Jin(Department of Mechanical Engineering,Guizhou University,GuizhouGuiyang550025,China)

机构地区：[1]贵州大学机械工程学院,贵州贵阳550025

出　　处：《机械设计与制造》2020年第4期244-247,共4页Machinery Design & Manufacture

基　　金：黔科合平台人才([2017]5630);贵州大学研究生创新基金(研理工2017053)。

摘　　要：针对轮式机器人轨迹跟踪问题,提出了一种利用滑模变结构算法构建的双环轨迹跟踪控制系统。在基于轮式机器人运动学模型基础上,针对该非线性欠驱动系统采用滑模变结构算法设计了能够保证全局范围内渐近稳定的轨迹跟踪控制器,并构建了双环控制系统。通过内环系统控制角速度,实现对方向角的跟踪;外环控制器得到控制角之后实现对速度的控制,使机器人达到期望位姿状态。文中利用Lyapunov稳定性理论对所设计的闭环系统进行了稳定性分析,并通过仿真进一步验证了该控制系统的有效性。This paper designs a double-loops trajectory tracking control algorithm based on sliding mode variable structure for trajectory tracking control of wheeled mobile robot.A global asymptotic stability(GAS)Trajectory tracking controller for nonlinear underactuated systems is designed using the sliding mode variable structure control,which is based on the wheeled mobile robot kinematics model,and the double loop control system is built.In order to make the Robot to a desired position,the angular velocity is controlled by the inner ring to achieve the tracking of heading direction angle.Then the outer loop controller get the heading direction angle to control the linear velocity.The stability of the closed loop system is analysed based on Lyapunov stability theorem.And results show the effectiveness of the proposed method.

关 键 词：欠驱动 轨迹跟踪 双环控制 非线性系统 滑模变结构 

分 类 号：TH16[机械工程—机械制造及自动化] TP319[自动化与计算机技术—计算机软件与理论]