摘要
针对一种球形机器人爬坡运动的位置控制问题,提出了一种自适应滑模控制方法。基于对实际系统的合理简化,利用拉格朗日方法建立了球形机器人爬坡运动的动力学模型,并将动力学模型表示为状态空间形式。基于系统的状态空间模型,将整个系统划分为两个子系统,并分别定义各子系统的滑动面。将其中一个子系统的滑动面引入到另一个子系统的控制设计中,采用李亚普诺夫稳定性理论设计了滑模控制律,并通过自适应律在线调节其切换增益。从理论上分析了闭环控制系统的稳定性,并通过数值仿真和样机实验验证了所提控制方法的有效性。
An adaptive sliding mode control method is proposed for position control of a spherical mobile robot in climbing state. Based on the reasonable simplifications of the actual robotic system, the dynamic model of the climbing motion is established by using the Lagrangian method, and the dynamic model is transformed into state space form. Based on the state space model, the whole system is divided into two subsystems, and the sliding surfaces of the subsystems are defined respectively. The sliding surface of one subsystem is incorporated into the control design of another subsystem, and the sliding mode control law is derived by using Lyapunov stability theory. The time-varying switching gain is included in the proposed control law, which is adjusted online by an adaptation law. The stability of the closed-loop control system is analyzed, and the effectiveness of the proposed control method is verified through numerical simulation and prototype experiment.
作者
于涛
赵伟
孙汉旭
YU Tao ZHAO Wei SUN Han-xu(College of Mechanical Engineering and Automation, Liaoning University of Technology, Jinzhou 121001, China School of Information Engineering, Beijing Institute of Graphic Communication, Beijing 102600, China School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China)
出处
《测控技术》
CSCD
2017年第7期60-65,共6页
Measurement & Control Technology
基金
国家自然科学基金面上项目(51175048)
辽宁省自然科学基金指导计划项目(201602379)
辽宁省教育厅科学技术研究一般项目(L2015241)
