基于自适应事件触发的非完整机器人轨迹跟踪  

Trajectory Tracking of Nonholonomic Robot Based on Adaptive Event-Triggered Scheme

作　　者：刘本友 艾自东 LIU Benyou;AI Zidong(College of Automation and Electronic Engineering,Qingdao University of Science and Technology,Qingdao Shandong 266061,China)

机构地区：[1]青岛科技大学自动化与电子工程学院,山东青岛266061

出　　处：《机床与液压》2023年第15期15-20,共6页Machine Tool & Hydraulics

基　　金：国家自然科学基金青年科学基金项目(61903213);山东省自然科学基金(ZR2019BF039)。

摘　　要：针对一类非完整轮式移动机器人的轨迹跟踪问题,提出一种分段自适应事件触发机制。以非完整轮式移动机器人的位姿误差运动学模型为基础,设计运动学控制器,利用Lyapunov稳定性定理证明控制系统一致稳定;基于此控制器提出了分段事件触发机制,在2个时间段内分别设计常值和自适应触发阈值参数,利用Lyapunov函数分析方法和Gronwall-Bellman不等式证明闭环控制系统一致最终有界,且相邻2次触发间隔存在正的下限。最后,通过MATLAB仿真验证了所提方法可根据系统状态误差范数自适应调整触发阈值参数,以较低的触发频率跟踪期望轨迹。A piecewise adaptive event-triggered mechanism was proposed for trajectory tracking of a class of nonholonomic wheeled mobile robots.Based on the kinematics model of the pose error of the nonholonomic wheeled mobile robot,a kinematic controller was designed,and Lyapunov stability theorem was used to prove the uniform stability of the control system.A piecewise event-triggered mechanism was proposed based on the controller,and constant and adaptive trigger threshold parameters were designed respectively in two time periods.Lyapunov function analysis method and Gronwall-Bellman inequality were used to prove that the closed-loop control system was uniformly ultimately bounded,and the two adjacent trigger intervals had positive lower bound.Finally,MATLAB simulation shows that the proposed method can adaptively adjust the trigger threshold parameters according to the system state error norm,and track the desired trajectory with a lower trigger frequency.

关 键 词：非完整移动机器人 轨迹跟踪 事件触发控制 稳定性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]