事件触发的自适应移动机器人轨迹跟踪控制

Event-triggered Adaptive Trajectory Tracking Control for Mobile Robots

针对纵向滑转对移动机器人轨迹跟踪控制的影响,提出了一种基于事件触发的自适应轨迹跟踪控制方法。引入自适应估计策略,通过两个滑转参数自适应估计驱动轮的纵向滑转情况,克服纵向滑转带来的运动扰动。同时结合事件触发思想,设计触发函数,降低通信频次,节约计算资源。最后,利用Lyapunov稳定性理论对系统的稳定性进行证明。仿真及实验结果表明,在纵向滑转使得位置误差最大值的均方根提升56.85%的情况下,控制系统仍能在短时间内迅速收敛,提高了运动系统的稳定性。

To solve the influence of longitudinal slip on trajectory tracking control of mobile robot,an automat-ic adaptive trajectory tracking control method based on event triggering is proposed.An adaptive estimation strategy is introduced and the longitudinal slip of the driving wheel is estimated adaptively through two slip parameters to overcome the motion disturbance caused by longitudinal slip.At the same time,combined with the idea of event triggering,the triggering function is designed to reduce the communication frequency and save computing resources.Finally,Lyapunov stability theory is used to prove the stability of the system.The simulation and experimental results show that the control system can still converge rapidly in a short time and improve the stability of the moving system in the case of a 56.85%increase in the root mean square of the maximum position error due to longitudinal slip.