基于扰动环境下的轮式机器人路径跟踪控制  

Trajectory Tracking Control of Wheeled Mobile Robot Under Disturbance Environment

作　　者：易成群 吴佳晔 李嘉莉 YI Cheng-qun;WU Jia-ye;LI Jia-li(Artificial Intelligence Key Laboratory of Sichuan Province,Sichuan University of Science&Engineering,Zigong 643000,China;School of Automation and Information Engineering,Sichuan University of Science&Engineering,Zigong 643000,China)

机构地区：[1]四川轻化工大学人工智能四川省重点实验室,自贡643000 [2]四川轻化工大学自动化与信息工程学院,自贡643000

出　　处：《组合机床与自动化加工技术》2023年第4期23-26,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：四川省高价值专利实施及产业化项目(2022-ZS-00140)。

摘　　要：针对轮式机器人在日常运转过程中,易受到负载、外界非线性干扰以及参数时变等不确定因素影响,提出了一种基于扰动环境下的轮式机器人路径跟踪控制算法。根据对轮式机器人工作时性能状态进行分析,建立出动力学模型;利用带扰动观测器的扩展卡尔曼滤波实现对内外部扰动实时预测和补偿,从而实现对轮式机器人的稳定控制;通过Lyapunov函数对其稳定性能进行证实。利用MATLAB软件进行算法仿真,通过对不同参数的校准调节,完成期望路径下轨迹跟踪实验验证。结果表明,经过扩展卡尔曼滤波器补偿后的轮式机器人,在跟踪精度和稳定性上要远远优于补偿前,证实了所提控制方法的有效性。In view of the fact that wheeled robots are easily affected by uncertain factors such as load,external nonlinear interference and time-varying parameters in daily operation,a path tracking control algorithm for wheeled robots based on disturbance environment is proposed.According to the analysis of the performance state of wheeled robots at work,the dynamic model is established.The extended Kalman filter with disturbance observer is used to realize real-time prediction andcompensation of internal and external disturbances,so as to realize the stable control of wheeled robots.Its stability is verified by Lyapunov function.MATLAB software is used to simulate the algorithm.Through the calibration and adjustment of different parameters,the trajectory tracking experiment under the expected path is completed.The results show that the tracking accuracy and stability of the wheeled robot compensated by extended Kalman filter are much better than those before compensation,which verifies the effectiveness of the proposed control method.

关 键 词：轮式机器人 扩展卡尔曼滤波 路径跟踪 LYAPUNOV 参数校正 

分 类 号：TH165[机械工程—机械制造及自动化] TG65[金属学及工艺—金属切削加工及机床]