轮式移动机器人的滑模轨迹跟踪控制  

Sliding Mode Trajectory Tracking Control of Wheeled Mobile Robots

作　　者：于涛[1] 梁爽 张亮[1] 杨昆[1] 

机构地区：[1]辽宁工业大学机械工程与自动化学院,辽宁锦州121001

出　　处：《工业控制计算机》2020年第11期62-64,共3页Industrial Control Computer

基　　金：辽宁省自然科学基金指导计划项目(201602379);辽宁省教育厅科学技术研究一般项目(L2015241)。

摘　　要：探讨轮式移动机器人基于运动学模型的轨迹跟踪问题,提出一种基于分级滑模控制和终端型滑模趋近律的轨迹跟踪控制方法。所提控制方法不仅能够实现机器人对于参考轨迹的快速跟踪,并且能够有效去除滑模跟踪控制律的高频抖振。基于轮式移动机器人的位姿误差微分方程,分别设计3个误差子系统的滑动面。对于第2个和第3个误差子系统构成的复合子系统,采用分级滑模控制和终端型滑模趋近律设计角速度控制律。对于第1个误差子系统,基于已设计的角速度控制律,借助终端型滑模趋近律设计线速度控制律。应用Lyapunov稳定性理论证明机器人位姿误差的收敛性,并采用仿真测试验证所提控制方法的有效性。The trajectory tracking problem of wheeled mobile robots based on kinematics model is discussed,and a trajectory tracking control method based on hierarchical sliding mode control and terminal sliding mode reaching law is proposed in this paper.The proposed control method can not only realize fast tracking of the robot with respect to the reference trajectory,but also effectively eliminate high frequency chattering of the sliding mode tracking control law.Based on the configuration error differential equations of wheeled mobile robots,the sliding surfaces of the three error subsystems are designed respectively.For the composite subsystem composed of the second and third error subsystems,hierarchical sliding mode control and terminal sliding mode reaching law are used to design the angular velocity control law.For the first error subsystem,the linear velocity control law is designed based on the designed angular velocity control law and terminal sliding mode reaching law.Lyapunov stability theory is applied to prove the convergence of the robot configuration error,and the effectiveness of the proposed control method is verified by simulation test.

关 键 词：轮式移动机器人 轨迹跟踪 分级滑模控制 终端型滑模趋近律 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]