基于自适应和神经动力学的轮式移动机器人路径跟踪控制(英文)

Path tracking control for a wheeled mobile robot byintegrating neural dynamics with adaptive approach

本文提出一种自适应和神经动力学相结合的轮式移动机器人路径跟踪控制方法.首先,设计运动学控制器用来获得机器人期望速度;其次,考虑机器人动力学模型参数的不确定性,利用模型参考自适应方法来设计动力学控制规律,使得机器人实际速度渐近逼近期望值;再次,为克服速度和力矩的跳变,加入神经动力学模型对控制器进行优化,并且通过Lypunov理论来证明整个控制系统的稳定性;最后仿真结果表明该控制方法的有效性.

A path tracking control method for a wheeled mobile robot is presented, which combines adaptive approachand neural dynamics to force the robot to track a predefined path. A kinematic controller is introduced to the mobile robot;the control law of which is developed by the model reference adaptive method for ensuring the robot velocity asymptoticallyapproaching to the desired velocity in uncertain system dynamics. To handle the jump-problem between speed and torque,a neural dynamic model is integrated with the above mentioned controls scheme; the stability of the combined system isanalyzed by using Lyapunov theory. Simulation results illustrate the effectiveness of the proposed control scheme.