摘要
以四轮移动机器人为研究对象,建立了机器人完整的数学模型,包括运动学模型、动力学模型以及驱动电机模型。在机器人数学模型的基础上,采用反步法的思想设计具有全局收敛特性的鲁棒轨迹跟踪控制器,设计中考虑了驱动电机模型使控制器更符合实际控制要求,并将其分解为运动学控制器、动力学控制器以及电机控制器三部分,降低了控制器设计的难度。构造了系统的李雅普诺夫函数,证明了该类型移动机器人在所得控制器作用下,能实现对给定轨迹的全局渐近追踪。仿真实验结果表明基于反步法的控制器是有效的。
A four-wheel mobile robot is investigated, the mathematical model of the robot is established which includes a kinematic model, a dynamic model and a motor model. Based on the mathematical model of the robot, backstepping method is used for designing a globally stable robust trajectory tracking controller, the motor model is considered to make the controller more suitable for the practical requirements, the controller is divided into three parts including a kinematic controller, a dynamic controller and a motor controller, which is helpful to design the robust controller. The Lyapunov function of the system is constructed, it is proved that this kind of robot can globally asymptotically track a given trajectory under the proposed controller. The simulation results show that the robust trajectory tracking controller with backstepping method is valid.
出处
《计算机工程与应用》
CSCD
2013年第8期266-270,共5页
Computer Engineering and Applications
基金
国家自然科学基金(No.60974039)
中国科学院数学机械化重点实验室开放课题(No.F0905009A)
