基于时变函数的非完整轮式移动机器人的镇定与跟踪控制  

Stabilization and tracking control of nonholonomic wheeled mobile robotbased on time-varying function

作　　者：李丽珍 程松松 樊渊[1] LI Li-zhen;CHENG Song-song;FAN Yuan(School of Electrical Engineering and Automation,Anhui University,Hefei 230601,China)

机构地区：[1]安徽大学电气工程与自动化学院,合肥230601

出　　处：《控制与决策》2024年第9期2932-2940,共9页Control and Decision

基　　金：国家自然科学基金项目(61973002,62103003);安徽省杰出青年基金项目(2008085J32)。

摘　　要：非完整轮式移动机器人被广泛应用于军事设备、物流运输、医疗和家居服务等场景.采用一种光滑的反馈控制策略来同时解决非完整移动机器人的目标点镇定问题与轨迹跟踪问题,使得移动机器人能够自适应地在点镇定和跟踪控制中平滑地切换.首先,针对点镇定与跟踪问题构建统一的数学模型;其次,基于数学模型并结合一致δ持续激励理论,设计一种基于时变函数的新型控制器,该控制器不仅能在无参考轨迹的先验知识条件下解决点镇定控制问题的同时获得更为光滑的自主运动轨迹和更快的收敛速率,而且能够很好地实现期望轨迹跟踪;然后,基于Lyapunov稳定性理论,给出点镇定和轨迹跟踪误差的稳定性分析;最后,通过数值仿真与工程实验验证所提出方法的可行性和有效性.The nonholonomic wheeled mobile robot is widely used in scenarios such as military equipment,transportation,medical,and household services.In this paper,a smooth feedback control strategy is used to solve the target point stabilization and trajectory tracking problems of such robots,so that the mobile robot can adaptively and smoothly switch between stabilization and tracking control.Firstly,a unified mathematical model is constructed for the stabilization and tracking problems of nonholonomic wheeled mobile robots.Then,combined with the theory of uniformpersistency of excitation,a novel controller has been designed based on time-varying functions.This controller can not only obtain smoother autonomous motion trajectory and faster convergence rate without prior knowledge of reference trajectory when addressing the point stabilization problem,but also complete the tracking of the desired trajectory,and achieve fast tracking in the case of the desired trajectory switching.In addition,we give the stability analysis of stabilization and tracking error using the Lyapunov stability theory.Finally,the feasibility and effectiveness of the proposed method are verified by numerical simulations and experiments.

关 键 词：非完整约束 轮式移动机器人 时变函数 点镇定 轨迹跟踪 LYAPUNOV稳定性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]