四轮移动机器人的模糊滑模轨迹跟踪控制

Fuzzy Sliding Mode Trajectory Tracking Control of Four-wheel Mobile Robot

为了提高四轮移动机器人的轨迹跟踪控制性能,减弱滑模控制系统抖振,设计了一种易于实现且有较好轨迹跟踪控制效果的模糊滑模控制器。首先,以四轮移动机器人运动学模型为基础设计了一种含积分项的滑模控制器,然后引入模糊控制,采用模糊滑模变结构的控制策略调整切换控制的相关估计参数,最终设计了一种基于模糊滑模控制的四轮移动机器人轨迹跟踪控制方法。仿真结果表明,该轨迹跟踪方法可以有效消除系统抖振并提高控制性能。

In order to improve the trajectory tracking control performance of the four-wheel mobile robot and reduce the chattering of the sliding mode control system,a fuzzy sliding mode controller is designed,which is easy to implement and has good performance of trajectory tracking control.Firstly,a sliding mode controller with integral term is designed based on the kinematics model of four-wheel mobile robot;then,fuzzy control is introduced,and fuzzy sliding mode variable structure control strategy is used to adjust the relevant estimation parameters of switching control;finally,a trajectory tracking method of four-wheel mobile robot based on fuzzy sliding mode control is designed.The simulation results show that the method can effectively eliminate the chattering and improve the control performance.