基于高增益观测器的单球移动机器人控制  

The Control for Single-ball Mobile Robot Based on Separation Theorem of High Gain Observer

作　　者：刘飞飞 朱杨林 彭辉辉 刘龙细 LIU Fei-fei;ZHU Yang-lin;PENG Hui-hui;LIU Long-xi(School of Electrical Engineering and Automation,Jiangxi University of Science and technology,Ganzhou 341000,China;School of Mechanical and Electrical Engineering,Jiangxi University of Science and technology,Ganzhou 341000,China)

机构地区：[1]江西理工大学电气工程与自动化学院,江西赣州341000 [2]江西理工大学机电工程学院,江西赣州341000

出　　处：《控制工程》2020年第5期799-806,共8页Control Engineering of China

基　　金：国家自然科学基金(61364014);江西省研究生创新专项资金项目(YC2017-S290)资助。

摘　　要：为针对单球移动机器人状态不完全可测及抗干扰能力弱的问题,提出一种基于高增益观测器分离定理的欠驱动滑模控制。首先,将单球移动机器人简化为二维倒立摆系统,并建立了拉格朗日动力学模型;然后,设计了欠驱动滑模控制器在机器人自平衡的同时,进行轨迹跟踪,实现机器人位姿的实时控制,并验证了系统的稳定及收敛性;再者,针对机器人运动过程角速度、位移速度等不可测量的问题,设计了高增益观测器来估计其状态,并对其观测误差进行了有界判定;最后,通过仿真和实验对控制方法进行了验证,结果显示:相比与传统控制方法,机器人在自平衡和轨迹跟踪时,动态品质更优,且无异常抖动,具有良好的应用前景。The sliding-mode control of poor-actuated based on separation theorem of high gain observer is proposed to solve the problem that the state of single-ball mobile robot is not fully measured and anti-interference ability is weak.Firstly,a Lagrangian dynamic model is established by simplifying the single-ball mobile robot into a two-dimensional inverted pendulum system;Secondly,to realize real-time control of the position and attitude of the robot and to trace the trajectory of the robot,as well as the robot self-balancing,a sliding-mode controller of poor-actuated is designed to trace the trajectory of the robot and the stability and convergence of the system are verified.Furthermore,the high gain observer is designed to estimate the state of the robot and to solve the problem that the angular velocity and the position velocity are hard to measured,and then the observed error is judged to be bounded.Finally,the control method is verified through simulation and experiments.The results show that compared with the traditional control method,the robot has better dynamic quality and no abnormal jitter during self-balancing and trajectory tracking,which has a good application prospect.

关 键 词：自平衡 轨迹跟踪 高增益观测器分离定理 欠驱动 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]