轮式移动机器人的反演二次滑模优化轨迹跟踪控制策略研究  

Research on Trajectory Tracking Control Strategy of Backstepping Optimized Double Sliding Mode for Wheeled Mobile Robot

作　　者：马梓竣 张欣刚 张树翠 姚文莉[1] MA Zijun;ZHANG Xingang;ZHANG Shucui;YAO Wenli(College of Science,Qingdao University of Technology,Qingdao 266525)

机构地区：[1]青岛理工大学理学院,青岛266525

出　　处：《北京大学学报（自然科学版）》2024年第4期597-606,共10页Acta Scientiarum Naturalium Universitatis Pekinensis

基　　金：国家自然科学基金(12272197,12202224);山东省自然科学基金(ZR2022MA066)资助。

摘　　要：为提高轮式移动机器人(WMR)轨迹跟踪控制的精度,提出一种反演二次滑模优化控制策略。首先,基于WMR的运动学与动力学模型,设计运动学反演滑模控制器和动力学反演积分滑模控制器,并通过Lya-punov稳定性理论证明控制器的稳定性。然后,利用粒子群优化(PSO)算法,对控制器的参数寻优。最后,考虑外部扰动以及系统输入饱和的情况,利用Matlab/Simulink对该控制策略进行仿真验证。结果表明,所提出的控制策略在保证系统鲁棒性和实时性的同时,还提高了系统的控制精度。In order to improve the accuracy of trajectory tracking control of wheeled mobile robot(WMR),a backstepping optimized double sliding mode control strategy was proposed.Initially,based on the kinematics and dynamics model of WMR,the kinematic backstepping sliding mode controller and dynamic backstepping integral sliding mode controller are designed.The stability of the designed controllers is proved by Lyapunov theory.Then particle swarm optimization(PSO)algorithm is used to optimize the controller parameters.Finally,considering the external disturbance and system input saturation,Matlab/Simulink is used to verify the control strategy.The results show that the proposed control strategy not only ensures the robustness and real-time performance of the system,but also improves the control accuracy of the system.

关 键 词：轮式移动机器人(WMR) 滑模控制 反演控制 粒子群优化(PSO) 输入饱和 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]