基于模型参考自适应的球形机器人运动控制  

Motion control of spherical robot based on model reference adaptive control

作　　者：余晨雨 章政 郭庆瑞[1] 张舰栋 金震 Yu Chenyu;Zhang Zheng;Guo Qingrui;Zhang Jiandong;Jin Zhen(Institute of Robotics and Intelligent Systems,Wuhan University of Science and Technology,Wuhan 430081;School of Information Science and Engineering,Wuhan University of Science and Technology,Wuhan 430081;Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education,Wuhan University of Science and Technology,Wuhan 430081)

机构地区：[1]武汉科技大学机器人与智能系统研究院,武汉430081 [2]武汉科技大学冶金自动化与检测技术教育部工程研究中心,武汉430081 [3]武汉科技大学信息科学与工程学院,武汉430081

出　　处：《高技术通讯》2021年第12期1312-1319,共8页Chinese High Technology Letters

基　　金：国家自然科学基金(61773298);教育部工程研究中心开放基金(MADT201603)资助项目。

摘　　要：针对球形机器人动力学模型不准确、参数不确定的问题,设计了一种基于李雅普诺夫(Lyapunov)方法的模型参考自适应控制(MRAC)算法。首先,搭建了基于全向轮驱动的球形机器人实验平台,并利用拉格朗日方程进行动力学建模。然后,为解决球形机器人运动过程中参数易受干扰的问题,采用MRAC进行运动控制,其中自适应控制率利用李雅普诺夫方法进行设计。最后,通过在线仿真和实测实验,结果表明MRAC具有良好的控制效果,在运动参数受到干扰时仍有较好的控制能力。Aiming at the problem of an inaccurate dynamic model of the spherical robot and uncertain parameters,a model reference adaptive control(MRAC) algorithm based on the Lyapunov method is designed.First,a spherical robot experimental platform based on an omnidirectional wheel drive is built,and the Lagrangian equation is used for dynamic modeling.Then,to solve the problem that the parameters of the spherical robot are easily disturbed during the movement of the spherical robot,MRAC is used for motion control,and the adaptive control rate is designed by using the Lyapunov method.Finally,online simulation and actual measurement experiments results show that MRAC has a good control effect and still has good control ability when the motion parameters are disturbed.

关 键 词：球形机器人 动力学模型 模型参考自适应控制(MRAC) 李雅普诺夫方法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]