轮式移动工业机器人非奇异终端滑模轨迹跟踪控制  

Non-singular terminal sliding mode trajectory tracking control for wheeled mobile industrial robot

作　　者：靳俊霞 王彩玲[2] 于峰 JIN Junxia;WANG Cailing;YU Feng(School of Computing,Kaifeng Vocational College of Culture and Arts,Kaifeng 475000,China;Department of Network Security,Henan Police College,Zhengzhou 450046,China;Kansas International School,Sias University,Zhengzhou 451150,China)

机构地区：[1]开封文化艺术职业学院计算机学院,开封475000 [2]河南警察学院网络安全系,郑州450046 [3]郑州西亚斯学院堪萨斯学院,郑州451150

出　　处：《现代制造工程》2024年第12期61-68,共8页Modern Manufacturing Engineering

基　　金：河南省科技攻关项目(242102210088)。

摘　　要：针对轮式移动工业机器人内、外扰动带来的不确定性对轨迹跟踪精度的影响,提出了一种非奇异终端滑模轨迹跟踪控制方法。首先建立了轮式移动工业机器人的动力学模型和轨迹跟踪误差模型;然后设计了扩张状态观测器来估计系统中的不确定性,并设计了非奇异终端滑模控制律,通过对不确定性实时补偿,来抑制内、外扰动对控制系统的影响,实现了轮式移动工业机器人运动轨迹的高精度控制;最后利用Lyapunov理论进行了稳定性分析。仿真结果表明,设计扩张状态观测器能够准确估计出系统中的不确定性,估计的速度和角速度最大误差分别仅为0.02 m/s和0.03 rad/s,设计的非奇异终端滑模控制律与扩展卡尔曼控制方法和积分滑模面控制方法相比,具有更高的跟踪精度和更强的鲁棒性,轨迹跟踪的最大误差仅为0.04 m。测试结果验证了提出的控制方法符合设计预期,轨迹跟踪的最大误差仅为0.07 m,能够确保轮式移动工业机器人更加准确地跟踪期望轨迹。Regarding the impact of uncertainty caused by internal and external disturbances on trajectory tracking accuracy of wheeled mobile industrial robots,a non-singular terminal sliding mode trajectory tracking control method was proposed.Firstly,the dynamic model and trajectory tracking error model of wheeled mobile industrial robot were established.Then,an extended state observer was designed to estimate the uncertainty in the system,and a non-singular terminal sliding mode control law was designed to suppress the influence of disturbances on the control system through real-time compensation of uncertainty,achieving high-precision control for the motion trajectory of wheeled mobile industrial robots.Finally,the stability analysis was conducted using Lyapunov theory.The simulation results show that the designed extended state observer can accurately estimate the uncertainty in the system,and the maximum errors of estimation are only 0.02 m/s and 0.03 rad/s separately.The designed non-singular terminal sliding mode control law has higher tracking accuracy and stronger robustness compared to the extended Kalman control method and the integral sliding surface control method,the maximum error of trajectory tracking is only 0.04 m.The test results verifiy that the proposed control method meets the design expectations,the maximum error of trajectory tracking is only 0.07 m,which can ensure that the wheeled mobile industrial robot can more accurately track the desired trajectory.

关 键 词：轮式移动工业机器人 轨迹跟踪 内外扰动 模型误差 扩张状态观测器 非奇异终端滑模 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]