基于模糊干扰观测器的移动机器人自适应滑模跟踪控制  

Adaptive Sliding Mode Tracking Control for Wheeled Mobile Robot Based on Fuzzy Disturbance Observer

作　　者：郭文东 魏莹 李振阳 牛勃 孙尚鹏 佃松宜[3] GUO Wen-dong;WEI Ying;LI Zhen-yang;NIU Bo;SUN Shang-peng;DIAN Song-yi(State Grid Ningxia Electric Power Co., Yinchuan 750001, China;Power Research Institute of State Grid Ningxia Power Co., Yinchuan 750002, China;School of Electrical Engineering, Sichuan University, Chengdu 610065, China)

机构地区：[1]国网宁夏电力有限公司,银川750001 [2]国网宁夏电力有限公司电力科学研究院,银川750002 [3]四川大学电气工程学院,成都610065

出　　处：《科学技术与工程》2021年第36期15529-15536,共8页Science Technology and Engineering

摘　　要：针对轮式移动机器人(wheeled mobile robot,WMR)轨迹跟踪中存在的速度跳变和未知系统扰动,提出一种新型轨迹跟踪控制策略。该策略基于反演技术,分别设计WMR系统的运动学控制器和动力学控制器。在运动学控制器中,采用分流技术克服了轨迹跟踪初期的速度跳变问题;在动力学控制器中,将模糊干扰观测器与自适应滑模控制结合,有效解决了未知系统扰动对控制性能的影响,并且消除了传统滑模控制的抖振现象。通过Lyapunov稳定性理论,证明了该控制策略的稳定性。仿真研究表明:该控制策略具有较小的速度跳变,控制信号抖振较小,并对系统扰动具有强鲁棒性。Aiming at the velocity jump and unknown system disturbance in the trajectory tracking of wheeled mobile robot(WMR),a new control scheme was proposed.By using the backstepping technique,the kinematics controller and dynamic controller were designed respectively.The shunting technique was adopted in the kinematics controller to cope with the problem of velocity jump at the beginning of the trajectory tracking.In the dynamic controller,the fuzzy disturbance observer and adaptive sliding mode control were combined to effectively solve the influence of unknown system disturbance on the control performance,and eliminate the chattering phenomenon in the traditional sliding mode control.The stability of the control scheme was proved by the Lyapunov stability theory.Simulation results show that the control scheme has a small velocity jump.At the same time,the control signal has less chattering and strong robustness to system disturbance.

关 键 词：轮式移动机器人(WMR) 轨迹跟踪 分流技术 模糊干扰观测器 自适应滑模 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]