轮式机器人纵向滑移迭代学习轨迹跟踪控制  

Longitudinal Slippage Iterative Learning Trajectory Tracking Control of Wheeled Robots

作　　者：游东亚 崔立志[1] 卜旭辉[1] 赵栩杨 侯锐 YOU Dongya;CUI Lizhi;BU Xuhui;ZHAO Xuyang;HOU Rui(Henan Polytechnic University,Jiaozuo 454000 China)

机构地区：[1]河南理工大学,河南焦作454000

出　　处：《电光与控制》2022年第9期96-101,共6页Electronics Optics & Control

基　　金：河南省高校科技创新团队(20IRTSTHN019)。

摘　　要：针对轮式移动机器人轨迹跟踪控制中存在纵向滑移干扰问题,研究了一种迭代学习控制律。首先,为了描述纵向滑移干扰引进滑移参数,建立了存在纵向滑移干扰的移动机器人运动学模型;然后,针对机器人系统设计了开闭环P型迭代学习控制器,选取了几种有代表性的滑移扰动进行分析,通过理论推导证明机器人在不同纵向滑移干扰下轨迹跟踪的稳定性;最后,通过仿真实例验证设计控制器的有效性。Aiming at the problem of longitudinal slippage disturbance in the trajectory tracking control of wheeled mobile robots,an iterative learning control method is studied.Firstly,in order to describe the longitudinal slippage disturbance,slippage parameters are introduced,and the kinematic model of mobile robot with longitudinal slippage disturbance is established.Then an open-closed loop,P-type iterative learning controller is designed,several representative slippage disturbances are selected for analysis,and the stability of the robot trajectory tracking under different longitudinal slippage disturbances is proved by theoretical derivation.Finally,the effectiveness of the designed controller is verified by a simulation example.

关 键 词：迭代学习控制 纵向滑移 轨迹跟踪 轮式移动机器人 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]