可变形全向移动机器人的自适应鲁棒PD控制研究  

Research on adaptive robust PD control for deformable omni-directional mobile robot

作　　者：于腾 赵连玉[1,2] YU Teng;ZHAO Lianyu(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384,China)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]天津理工大学机电工程国家级实验教学示范中心,天津300384

出　　处：《天津理工大学学报》2024年第6期21-28,共8页Journal of Tianjin University of Technology

基　　金：天津市重点研发项目(20YFZCGX00550)。

摘　　要：针对可变形全向移动机器人两种不同构型的动力学系统中存在的不确定性问题,提出了基于Lyapunov稳定性理论的自适应PD控制律来自逼近系统中的摩擦和外部扰动等不确定项,实现轮椅和轮床两种构型系统的补偿控制。考虑系统的补偿精度和抗干扰性,在控制律中添加了鲁棒项,减小算法的逼近误差。通过Lyapunov稳定性理论证明了提出的自适应鲁棒PD控制律能在可变形全向移动机器人动力学中保证系统的稳定性。以轮椅构型为例,仿真结果显示该算法具有良好的轨迹跟踪性能,验证了该算法的有效性和可行性,进而为移动机器人电机的选型提供了有效参考。To solve the uncertainty problems in the dynamic systems of two different configurations of deformable omni-directional mobile robot,an adaptive PD control law based on Lyapunov stability theory is proposed,to approximate the uncertainties such as friction and external disturbances in the approximation system,so as to implement the compensatory control of the dynamic systems of the wheelchair and wheelbed configurations.Considering the compensation accuracy and anti-interference of the system,a robust term is added to the control law for reducing the approximation error of the algorithm.The Lyapunov stability theory is utilized to prove that the proposed adaptive robust PD control law can guarantee the stability of the system in the dynamics of a deformable omnidirectional mobile robot.Taking the wheelchair configuration as an example,the simulation results demonstrate that the algorithm has good trajectory tracking performance,and the validity and feasibility of the algorithm is verified.It provides an effective reference for the motor selection of omni-mobile robot.

关 键 词：全向移动机器人 自适应鲁棒PD控制 补偿控制 轨迹跟踪 

分 类 号：TH122[机械工程—机械设计及理论]