基于节能考虑的全向移动机器人鲁棒补偿轨迹跟踪控制  

Robust compensation trajectory tracking control for omni-directional mobile robot based on energy saving

作　　者：王义娜 郑依伦 杨俊友[1] 王硕玉[1] WANG Yi-na;ZHENG Yi-lun;YANG Jun-you;WANG Shuo-yu(School of Electrical Engineering,Shenyang University of Technology,Shenyang 110870,China)

机构地区：[1]沈阳工业大学电气工程学院,沈阳110870

出　　处：《控制与决策》2022年第11期3065-3072,共8页Control and Decision

基　　金：国家自然科学基金项目(61803273);辽宁省教育厅服务地方项目(LFGD2020004)。

摘　　要：针对全向移动机器人在跟踪目标的过程中存在跟踪误差以及产生能量损耗的问题,首先构建一种新型机器人能耗模型,该模型能够有效预测机器人运行过程中各种能量消耗;其次,基于该能耗模型设置兼顾轨迹跟踪误差和能耗最小的性能指标函数,在其约束下,提出一种基于干扰鲁棒补偿的反馈节能控制器;然后,引入不确定性及干扰估计观测法,构建鲁棒补偿项,在满足能耗最优的前提下实现对外界干扰的有效抑制;最后,基于Lyapunov稳定性理论证明所提出的节能干扰鲁棒补偿控制系统是渐近稳定的.通过将所提出的控制器与比例微分控制器、H∞控制以及节能补偿控制进行比较,仿真结果表明,所提出的控制方法其控制精度更高、能量损耗更低、具有更强的鲁棒性.Aiming at the tracking error and energy loss of an omni-directional mobile robot while tracking the predesigned target,this paper firstly constructs a novel robot energy consumption model which can effectively predict all kinds of energy consumption in the tracking task.Then,by taking the new energy consumption model into the performance index,a feedback energy-saving controller with disturbance robust compensation is proposed which oritents to the minimum of trajectory tracking error and energy consumption.Additionally,a robust compensation term is introduced into the conrller by employing an uncertainty and disturbance observer to cancel or minimum the effect of the the external disturbance under the premise of optimal energy consumption.Finally,the proposed energy-saving disturbance robust compensation control system is proved to be asymptotically stable based on the Lyapunov stability theory.The simulation results show that the proposed control method has higher control precision,lower energy loss and stronger robustness compared to the proportional perivative controller,the H∞controller and the normal energy saving compensation controller.

关 键 词：全向移动机器人 能耗模型 性能指标 能耗优化 能量预测 干扰鲁棒补偿 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]