轮式移动机械臂的鲁棒跟踪控制研究

Robust Tacking Control of Wheeled Mobile Manipulators

移动机械臂系统一般由移动平台和机器臂组成,它既具有机器臂的操作灵活性,又具有移动机器人的可移动性,因此其应用范围要比单个系统宽得多。这篇文章研究了由非完整移动平台和完整机械臂构成的移动机械臂系统的鲁棒跟踪控制问题,基于误差动态方程和耗散不等式引理设计了一种鲁棒跟踪控制器,该控制器在出现外界干扰时能使系统渐近跟踪给定信号。使用Matlab6.5对系统进行了仿真研究,仿真结果表明所提出的鲁棒控制算法是正确有效的。

A mobile manipulators system typically consists of a mobile base and manipulators mounted on the mobile base.A typical characteristic of mobile manipulators is the mobility of mobile base which is added to the flexibility of manipulators,and this enlarges its applications.This paper studies the robust tracking control problem of wheeled mobile manipulators composed of a nonholonomic mobile platform and manipulators mounted on the mobile plafform.A robust tracking controller is proposed based on the dynamics of the defined tracking error and passivity inequation Lemma.The proposed controller ensures that the state of the system asymptotically track the given desired trajectory in the presence of environment disturbance.Extensive simulations presented in this paper show the effectiveness of the proposed approach.