基于滑模反馈的履带式机器人自适应轨迹跟踪  

Adaptive Trajectory Tracking of Tracked Robot Based on Sliding Mode Feedback

作　　者：王君[1] 程浩[1] 姜荣俊 蔡一杰 WANG Jun;CHENG Hao;JIANG Rong-jun;CAI Yi-jie(School of Mechanical Engineering,Hubei University of Technology,Wuhan 430068,China)

机构地区：[1]湖北工业大学机械工程学院,武汉430068

出　　处：《组合机床与自动化加工技术》2023年第1期25-28,33,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：湖北工业大学高层次人才基金项目(BSQD2020010);现代制造质量工程湖北省重点实验室开放基金项目(KFJJ-2021012)。

摘　　要：针对滑移对履带式机器人运动控制产生的干扰,构建了包含滑移参数的运动学方程。进一步针对滑移对控制系统的干扰,设计了滑模观测器,将观测到的滑模参数补偿到系统中以补偿滑移产生的跟踪误差,并建立反演控制器。同时,根据自适应控制原理,采用BP神经网络自适应调整控制器参数,提高系统跟踪效果;最后通过Simulink仿真,仿真结果表明,基于滑模反馈的履带式机器人自适应反演控制器可以提高履带式机器人的跟踪控制精度,并且滑模观测器可以准确估计滑移参数。Aiming at the interference of sliding on the motion control of tracked robot, the kinematic equations including sliding parameters are constructed.Furthermore, aiming at the disturbance of slip to the control system, a sliding mode observer is designed, the observed sliding mode parameters are compensated into the system to compensate the tracking error caused by slip, and an inverse controller is established.At the same time, according to the principle of adaptive control, BP neural network is used to adaptively adjust the controller parameters to improve the tracking effect of the system.Finally, through Simulink simulation, the simulation results show that the adaptive inversion controller of tracked robot based on sliding mode feedback can improve the tracking control accuracy of tracked robot, and the sliding mode observer can accurately estimate the sliding parameters.

关 键 词：轨迹跟踪控制 BP神经网络 滑模观测器 履带式机器人 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]