基于无源化方法的移动机器人轨迹跟踪控制

Tracking Control of a Mobile Robot by Passivity Techniques

该文将无源化方法应用到机器人轨迹跟踪控制中,根据机器人的动力学模型,采用基于模型及其转换矩阵的时变误差反馈的控制策略,将机器人的动力学过程转变为一个无损系统和关于一个二维向量的无源性映射。构造一个严格输入无源反馈映射,则此闭环系统为严格输出无源的,即此二维向量输出属于Ln2空间。由无源系统输出与轨迹跟踪误差间的转换矩阵形式可知跟踪误差也属于Ln2空间,即轨迹跟踪系统是稳定的。仿真结果表明,此方法控制效果良好,可以无差跟踪任意轨迹。

This paper uses a passivity technique for the trajectory tracking of a mobile robot. A model - based time - varying output - feedback algorithm based on the dynamic model of the mobile robot is applied to convert dynamic model to a lossless system and a passivity mapping which is two - dimensional. The close- loop system would be strictly outputs passive by constructing strictly an inputs passive feedback mapping, then the output which is two - dimensional belongs to L2^n Space. From the convert matrix between outputs of passive system and trajectory errors we know the trajectory tracking errors belong to L2^n Space, i.e. stability of the designed tracking system can be obtained. The results of simulation show that the proposed approach is effective. Robot can follow any track.