一种球形滚动机器人的路径跟踪控制器设计

Design of a Path Following Controller for a Spherical Rolling Robot

对一种球形滚动机器人的路径跟踪控制问题进行研究,设计一种基于自适应滑模控制策略的路径跟踪控制器;所设计的路径跟踪控制器采用鲁棒滑模自适应增益控制律,能够有效实现带有扰动和不确定性的实际球形滚动机器人的路径跟踪;推导球壳纯滚动和无自转非完整约束下球形滚动机器人的运动方程,并在此基础上设计自适应滑模路径跟踪控制器;对于给定的参考几何路径,所设计的路径跟踪控制器能够确保路径跟踪误差在有限时间内收敛至很小的零邻域内;基于Lyapunov稳定性理论证明了闭环控制系统的稳定性,数值仿真与样机实验结果进一步验证了所设计的路径跟踪控制器的有效性。

The path following control problem of a spherical rolling robot is studied, and a path following controller based on an adaptive sliding mode control scheme is designed. The designed path following controller adopts a robust sliding mode adaptive gain control law, and it can efficiently realize path following control of the real spherical rolling robot with perturbations and uncertainties. The motion equations of the spherical rolling robot subject to pure rolling and non-spinning constraints of the spherical shell are derived, based on which the adaptive sliding mode path following controller is developed. With respect to a specified reference geometry path, the designed path following controller can guarantee that the path following error converges to a small zero region within a finite time. The stability of the closed-loop control system is proven based on Lyapunov stability theory, and the results of numerical simulation and prototype experiment further verify the efficacy of the designed path following controller.