基于曲率控制的球形移动机器人路径跟踪

Path following of spherical robots based on the curvature control

基于曲率的控制方法,对非完整约束条件下的欠驱动球形机器人进行了路径跟踪问题的研究。建立了非完整约束条件下具有正交的两输入球形机器人的运动学和动力学模型,并通过输入变换得到一个两输入的二阶系统。基于非线性滑模控制方法分别设计了横向姿态控制器和纵向速度控制器。提出了一种曲率控制器,实现了球形机器人的路径跟踪。仿真和实验结果表明,系统的运动状态能够收敛到期望的邻域内,验证了控制方法的有效性。

The path following control problems of the spherical robots under the conditions of nonholonomic constrains were investigated based on the curvature control method. A kinematic and dynamic model of the spherical mobile robots with the perpendicular inputs was derived while taking the nonholonomic no-slip constraint into considerations, and it was converted to a second-order system with two inputs using the input transformation. In order to implement the motion control, based on the nonlinear sliding control approach, two controllers, a lateral attitude controller and a longitudinal velocity controller, were designed respectively. A curvature control law was developed to implement the path following control. The simulation results showed that the developed controllers guaranteed the convergence of the motion state to the desired small neighborhood, and verified the effectiveness of the proposed motion controllers.