自行车机器人滑模变结构控制器设计与实现  

Design and Implementation of Sliding Mode Variable Structure Controller for Bicycle Robots

作　　者：徐溢鸿 颜斌 陈龙[1] XU Yihong;YAN Bin;CHEN Long(Electronic Information School,Hangzhou Dianzi University,Hangzhou 310018,China)

机构地区：[1]杭州电子科技大学电子信息学院,浙江杭州310018

出　　处：《软件导刊》2024年第10期25-31,共7页Software Guide

基　　金：国家自然科学基金项目(61771178)。

摘　　要：协调的运动控制方案对于智能无人机器人精确稳定的运动至关重要。针对反作用力轮无人自行车的独立平衡问题,提出一种固定时间收敛结合自适应干扰补偿的高阶滑模控制方案。该方案可普遍应用于考虑了幅度和速率约束的执行器等一类问题。首先,出于整体设计考虑,采用固定时间快速收敛的滑模控制器进行反作用力轮无人自行车功率驱动,同时设计一个高阶滑模干扰观测器补偿未建模参数项和外部干扰的影响;其次,基于Lyapunov函数给出闭环控制系统的稳定性证明。在实际场景中进行验证实验,所提方案相较其他滑模控制方法有5%~30%幅度的性能提升,特别是在动态行驶误差RMSE方面达到了0.003 1 rad,说明控制器在行驶过程中稳定有效。A coordinated motion control scheme is crucial for the precise and stable motion of intelligent unmanned robots.A high-order sliding mode control scheme combining fixed time convergence and adaptive disturbance compensation is proposed for the independent balancing problem of reaction wheel unmanned bicycles.This scheme can be widely applied to problems such as actuators that consider amplitude and rate constraints.Firstly,considering the overall design,a fixed time fast convergence sliding mode controller is adopted for the power drive of the reaction wheel unmanned bicycle.At the same time,a high-order sliding mode disturbance observer is designed to compensate for the unmodeled parameter terms and external disturbances.Then,the stability proof of the closed-loop control system is given based on Lyapunov functions.In practical scenarios,verification experiments were conducted,and the proposed scheme showed a performance improvement of 5%to 30%compared to other sliding mode control methods,especially in terms of dynamic driving error RMSE reaching 0.0031 rad,indicating that the controller can be stable and effective during driving.

关 键 词：反作用力轮无人自行车 独立平衡 干扰观测器 高阶滑模控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]