非完整城市排水管道机器人反演跟踪控制

Backstepping Tracking Control Method for Nonholonomic Urban Pipeline Robots

近年来,用于城市排水管道检测的轮式移动机器人因其灵活性而受到人们的关注。轮式移动机器人为欠驱动系统,具有非完整约束,对其控制策略的研究可以促进非完整控制理论的发展。基于轮式移动机器人的动力学模型,提出一种反演跟踪控制方法,实现其高精度跟踪控制。通过建立机器人动力学模型,对模型进行解耦,针对解耦后的子系统分别设计线速度和角度跟踪控制器。仿真结果验证了所提控制方法的有效性。

In recent years,wheeled mobile robots used for drainage pipeline detection receive wide attention due to its flexibility.The wheeled mobile robot belongs to underactuated system with nonholonomic constraint,so the research on its control strategy can promote the development of nonholonomic control theory.Based on the dynamics model of the robot,this paper proposes a set of backstepping tracking controllers to realize the high-precision tracking control of velocity and angle.The simulation results verified the effectiveness of the proposed control method.The results in this paper provide a theoretical foundation for the further research on the external environment uncertainty control method.