时滞的非完整动力学系统滑模抗干扰跟踪控制  

Sliding mode anti-interference tracking control for nonholonomic dynamical systems with time delay

作　　者：陈华 王梦琪 陈云[2] CHEN Hua;WANG Meng-qi;CHEN Yun(College of Science,Hohai University,Nanjing Jiangsu 210098,China;College of Mechanical and Electrical Engineering,Hohai University,Changzhou Jiangsu 213022,China)

机构地区：[1]河海大学理学院,江苏南京210098 [2]河海大学机电工程学院,江苏常州213022

出　　处：《控制理论与应用》2023年第7期1181-1189,共9页Control Theory & Applications

基　　金：江苏省自然科学基金项目(BK20201159)资助。

摘　　要：针对具有外部扰动和时滞的非完整轮式移动机器人系统,本文阐述了一种基于非线性扰动观测器的时滞滑模控制方法.首先,利用扰动观测器估计系统的外部扰动;然后,用极坐标转化移动机器人的姿态,并用计算转矩法对机器人的动力学方程进行反馈线性化.设计带时滞控制的滑模,目的是使移动机器人渐近稳定在期望轨迹上,并有效地减小控制增益的过高估计.最后,利用李雅普诺夫函数建立闭环系统的稳定性.仿真结果表明,该方案具有良好的跟踪精度和鲁棒性.In this article,a time delay estimation sliding mode control method based on nonlinear disturbance observer is presented for trajectory tracking of nonholonomic wheeled mobile robot systems with time delays and external disturbances.Firstly,the disturbance observer is used to estimate the external disturbance of the system,and then the posture of a mobile robot is represented by polar coordinates and the dynamic equation of the robot is feedback-linearized by the computedtorque method,the sliding mode with time delay control is designed for asymptotically stabilizing the mobile robot to a desired trajectory and effectively reduce the overestimation of control gain.The Lyapunov function are invoked to establish the stability of the closed loop system.Simulation results demonstrate the effectiveness of accurate tracking capability and the robust performance of the proposed scheme.

关 键 词：非完整移动机器人 滑模控制 时滞 外部扰动 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]