基于前馈补偿PID控制的轮式机器人轨迹跟踪

Trajectory tracking of wheeled robot based on feedforward compensation PID

轮式机器人属于非线性欠驱动系统,针对传统PID控制在其运行过程中控制效果不佳的问题,提出基于前馈补偿的PID控制方案。在轮式机器人数学模型的基础上,完成了轮式机器人位置控制规律及姿态控制规律的设计,有效提高了轨迹跟踪控制效果。通过软件仿真对所设计的控制方案进行测试,最终的仿真结果表明:轮式机器人能快速达到目标位置,并保持前进方向的目标值,在有不可控干扰的情况下,控制器有效实现了轮式机器人轨迹跟踪控制。

Wheeled robot belongs to nonlinear underactuated system.In view of the non-effective control of traditional PID in the process of operation,the PID control based on feedforward compensation scheme is put forward.Based on the mathematical model of the wheeled robot,the design of the position control law and attitude control law of the wheeled robot were completed.Finally,the simulation results show that the wheeled robot can quickly reach the position and keep the target value of the forward direction,and the controller effectively realizes the track tracking control of the wheeled robot in the presence of uncontrollable interference.