摘要
为解决锅炉水冷壁磨损检测机器人的路径跟踪问题,提出了一种基于指数趋近律的滑模变结构控制的机器人路径跟踪方法;在水冷壁磨损检测机器人运动模型的基础上,进行路径跟踪误差分析,设计一种基于指数趋近律的滑模变结构控制器,再利用Lyapunov定理验证其收敛性,最后通过MATLAB软件模拟仿真,仿真结果表明该控制器可以克服误差,使位姿误差收敛至零。
In order to solve the path tracking problem of boiler water wall wear detection robot,a robot path tracking method based on exponential approach law for sliding mode variable structure control is proposed.Based on the motion model of the water wall wear detection robot,perform path tracking error analysis.Design a sliding mode variable structure controller based on exponential approach law.Then use Lyapunov's theorem to verify its convergence,and finally simulate it through MatLab software.The simulation results show that the controller can overcome the error and make the pose error converge to zero.
作者
张华胜
宋旋漩
潘礼正
Zhang Huasheng;Song Xuanxuan;Pan Lizheng(School of Mechanical Engineering,Changzhou University,Changzhou 213100,China)
出处
《计算机测量与控制》
2019年第11期106-109,114,共5页
Computer Measurement &Control
基金
国家自然科学基金(61773078)
常州市科技支撑计划(CE20175040)
