基于双环自适应滑模的移动机器人轨迹跟踪控制  

Trajectory tracking control of mobile robot via double-loop adaptive sliding mode strategy

作　　者：张鑫[1] 秦东晨[2] 谢远龙[1,3] 王书亭 ZHANG Xin;QIN Dongchen;XIE Yuanlong;WANG Shuting(School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,China;School of Mechanical and Power Engineering,Zhengzhou University,Zhengzhou 450001,China;Hubei Key Laboratory of Intelligent Robot,Wuhan Institute of Technology,Wuhan 430074,China)

机构地区：[1]华中科技大学机械科学与工程学院,湖北武汉430074 [2]郑州大学机械与动力工程学院,河南郑州450001 [3]武汉工程大学智能机器人湖北省重点实验室,湖北武汉430074

出　　处：《合肥工业大学学报（自然科学版）》2024年第1期13-20,共8页Journal of Hefei University of Technology：Natural Science

基　　金：国家自然科学基金资助项目(52275488);湖北省重点研发计划资助项目(2022BAA064);智能机器人湖北省重点实验室资助项目(HBIR202309)。

摘　　要：为了提升移动机器人轨迹跟踪精度,针对传统双环控制内外环协调性差、抗扰性弱的问题,文章提出双环自适应滑模的控制方法。为消除传统滑模控制(sliding mode control, SMC)方法中的趋近阶段,设计新型时变积分终端滑模控制器以保证系统状态始终位于滑模面,并通过控制器参数调节实现内环姿态误差和外环位置误差的快速收敛;构建基于势垒函数的增益调控方法,保证在扰动上界未知的情况下有效地抑制状态抖振,提高轨迹跟踪系统的抗干扰能力。对所提方法进行的验证分析结果表明,相较于现有的双环控制方法,该文轨迹跟踪控制方法精度更高、鲁棒性更强。To improve the trajectory tracking accuracy of mobile robots,a double-loop adaptive sliding mode control method is proposed to solve the problems of poor coordination between inner loop and outer loop and weak anti-disturbance of the traditional double-loop control.Firstly,to eliminate the reaching phase in the traditional sliding mode control(SMC)method,a new time-varying integral terminal sliding mode controller is designed to ensure that the system state is always on the sliding mode surface,and the fast convergence of the inner loop attitude error and the outer loop position error is achieved by adjusting the controller parameters.Furthermore,a gain control method based on barrier function is constructed to effectively suppress state chattering and improve the anti-disturbance capability of the trajectory tracking system when the upper bound of the disturbance is unknown.Finally,the verification results show that the proposed trajectory tracking control method has higher accuracy and stronger robustness than the existing double-loop control methods.

关 键 词：移动机器人 轨迹跟踪 双环自适应滑模控制(SMC) 势垒函数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]