基于双环滑模控制的全方位移动机器人轨迹跟踪研究  

Trajectory tracking control of omni-directional mobile robot based on double-loop sliding mode

作　　者：车洪磊[1] CHE Honglei(China Academy of Safety Science and Technology,Beijing Key Laboratory of Metro Fire and Passenger Transportation Safety,Beijing 100012)

机构地区：[1]中国安全生产科学研究院地铁火灾与客流疏运安全北京市重点实验室,北京100012

出　　处：《高技术通讯》2022年第7期756-762,共7页Chinese High Technology Letters

基　　金：国家应急管理部消防救援局科技计划(2020XFZD15)资助项目。

摘　　要：针对复杂环境下麦克纳姆轮的全方位移动机器人工作时面临不确定性以及内外部扰动等问题,提出基于双环滑模控制的移动机器人轨迹跟踪控制方法。采用拉格朗日方法建立了麦克纳姆轮移动机器人动力学模型,提出了双环滑模控制策略来实现内外环的位置及速度跟踪,应用Lyapunov稳定性理论证明了系统的稳定性,并使用Matlab/Simulink软件进行移动平台的直线与圆弧轨迹跟踪的仿真。仿真结果表明,全方位移动机器人能够快速平滑地跟踪理想轨迹,误差收敛速度较快,系统的鲁棒性较强。此外,实物实验表明,所提算法能在外界扰动的情况下实现轨迹的跟踪控制。For the omni-directional mobile robot with Mecanum wheels in complex environments considering the uncertainty and internal and external disturbances, a trajectory tracking control scheme for the mobile robot is proposed based on double-loop sliding mode. The dynamic model of the Mecanum wheel mobile robot is established by using the Lagrangian method. The double-loop sliding mode control strategy is proposed to realize the position and speed tracking of the inner and outer loops and the stability of the robot system is proved by the Lyapunov theory. The Matlab Simulink software is used to conduct the linear and arc trajectory tracking simulation of the mobile platform.The simulation results show that the omni-directional mobile robot can achieve the quick and smooth trajectory tracking, faster error convergence rate, and the system robustness. In addition, physical experiments show that the proposed scheme can achieve trajectory tracking control under external disturbances.

关 键 词：麦克纳姆轮 全方位移动机器人 轨迹跟踪 双环滑模 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]