轮式机器人双环轨迹物联网安全传感控制技术  

Security sensing control technology of wheeled robot double loop trajectory Internet of Things

作　　者：蔡娜 刘磊 CAI Na;LIU Lei(Beijing Institute of Computer Technology and Application,Beijing 100854,China)

机构地区：[1]北京计算机技术及应用研究所,北京100854

出　　处：《电子设计工程》2023年第18期51-54,共4页Electronic Design Engineering

摘　　要：针对轮式机器人控制过程中显著非线性、非完整约束动力学问题,结合物联网传感技术、双环积分滑模控制技术,提出一种轮式机器人运动轨迹的自动控制方法。采用感知层、网络层、应用层架构物联网,添加安全传感节点。利用最小二乘估计法处理传感节点信号,根据各基站与待定位节点间的信号到达时间差,获取机器人位置。针对轮式机器人的非完整约束动力学模型,利用双环积分滑模控制技术,结合内外环控制律,构建基于积分滑模面的内外环控制模型,实现轮式机器人轨迹安全传感自动控制。实验结果表明,所提技术的控制轨迹与期望轨迹拟合情况良好,可以达成预期控制目标。Aiming at the obvious nonlinear and nonholonomic constraint dynamics problems in the control process of wheeled robot,an automatic control method of wheeled robot motion trajectory is proposed by combining the sensing technology of Internet of Things and the double⁃loop integral sliding mode control technology.Internet of Things is structured by perception layer,network layer and application layer,and security sensor nodes are added.The least square estimation method is used to process the sensor node signals,and the robot positioning is obtained according to the arrival time difference between each base station and the node to be located.Aiming at the nonholonomic constrained dynamic model of wheeled robot,the inner and outer loop control model based on integral sliding surface is constructed by using double⁃loop integral sliding mode control technology combined with inner and outer loop control laws,and the automatic control of trajectory safety sensing of wheeled robot is realized.The experimental results show that the control trajectory of the proposed technology fits well with the expected trajectory,and the expected control goal can be achieved.

关 键 词：轮式机器人 运动轨迹 物联网传感技术 双环积分滑模控制技术 机器人动力学 

分 类 号：TN94[电子电信—信号与信息处理]