侧滑和打滑下的轮式移动机器人轨迹跟踪控制  

Trajectory tracking control of wheeled mobile robots under side-slip and slip

作　　者：胡映 陈志环 HU Ying;CHEN Zhihuan(Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education,(Wuhan University of Science and Technology),Wuhan Hubei 430081,China;Institute of Robotics and Intelligent Systems,Wuhan University of Science and Technology,Wuhan Hubei 430081,China)

机构地区：[1]冶金自动化与检测技术教育部工程研究中心(武汉科技大学),武汉430081 [2]武汉科技大学机器人与智能系统研究院,武汉430081

出　　处：《计算机应用》2024年第7期2294-2300,共7页journal of Computer Applications

基　　金：国家自然科学基金资助项目(62173262,62003249)。

摘　　要：针对未知侧滑和打滑干扰下轮式移动机器人(WMR)轨迹控制中,存在模型不确定性、外部干扰等扰动导致传统滑模控制易出现收敛精度不足、控制输入抖振的问题,提出一种基于非线性扩展状态观测器的自适应二阶滑模跟踪控制方法(ASOSMC-NESO)。首先建立了侧滑与打滑条件下的轮式移动机器人运动学和动力学模型;其次,由反步法设计运动学控制器,为动力学提供虚拟速度;接着,针对外部干扰设计了非线性扩展状态观测器,以估计总扰动;然后,基于二阶积分滑模的思想将积分滑模和非奇异快速终端滑模面相结合,设计了动力学控制器,并给出了控制器稳定性分析。实验结果表明,对比一阶滑模控制方法,该控制方法误差最大值在线性和非线性轨迹下,分别下降约89.53%和16.28%,而且控制输入基本不受干扰影响。由此可见,ASOSMC-NESO能有效提高WMR在未知侧滑和打滑下的控制精度,并有效削减抖振和提升WMR轨迹跟踪鲁棒性。Aiming at the problem that traditional sliding mode control is prone to insufficient convergence accuracy and control input jitter due to model uncertainty,external disturbances and other perturbations in trajectory control of Wheeled Mobile Robot(WMR)under unknown side-slipping and slipping disturbances,an Adaptive Second-Order Sliding Mode tracking Control method based on Nonlinear Extended State Observer(ASOSMC-NESO)was proposed.Firstly,the kinematics and dynamics models of the wheeled mobile robot under side-slipping and slipping conditions were established;secondly,the kinematic controller was designed by inverse step method,which provided the virtual velocity for dynamics;then,a nonlinear extended state observer was designed for estimating the total disturbance in response to the external disturbances;and then,the dynamic controller was designed based on the idea of second-order integral sliding mode by combining integral sliding mode with non-singular fast end-sliding mode surface,and the stability analysis of the controller was given.The experimental results show that compared with the first-order sliding mode control method,the maximum value of error of the proposed control method decreases by about 89.53%and 16.28%under linear and nonlinear trajectories,respectively,and the control input is basically unaffected by disturbance.It can be seen that ASOSMC-NESO can effectively improve the control accuracy of WMR under unknown side-slipping and slipping,effectively cut down the jitter,and enhance the robustness of WMR trajectory tracking.

关 键 词：轮式移动机器人 侧滑和打滑 轨迹跟踪 二阶滑模 非线性扩展状态观测器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]