蛇形机器人跟踪误差预测的自适应轨迹跟踪控制器

Adaptive trajectory tracking controller for snake robot tracking error prediction

为了满足蛇形机器人轨迹跟踪运动的精度需要,消除外界干扰对机器人跟踪误差的影响,提出了一种蛇形机器人跟踪误差预测的自适应轨迹跟踪控制器。所提出的控制器实现了机器人干扰变量、摩擦系数和控制参数的预测,并用预测值和虚拟控制函数来补偿系统的控制输入,抵消了蛇形机器人在轨迹跟踪过程中的侧滑角,避免了干扰变量对机器人带来的负面影响,提高了轨迹跟踪的误差稳定性与控制精度。在建立蛇形机器人模型后,利用积分形式的侧滑角补偿项改进了视线法,并设计了蛇形机器人的自适应轨迹跟踪控制器。使机器人的位置误差在10 s内实现收敛,角度误差小于0.03 rad,预测值误差在5 s内收敛。通过仿真实验,验证了所提出的控制器的有效性和优越性。

In order to meet the accuracy requirement of the trajectory tracking motion of snake robot and eliminate the influence of the external disturbance on the tracking error of the robot,an adaptive trajectory tracking controller for snake robot tracking error prediction is proposed.The proposed controller achieves the prediction of the disturbance variables,friction coefficient and control parameters of the robot,and compensates the control input of the system with the predicted value and virtual control function.The sideslip angle of the snake robot in the trajectory tracking is conteracted,and the negative influence of the interference variables on the robot is avoided.The error stability and control accuracy of the trajectory tracking are improved.After the snake robot model is established,the line-of-sight method is improved using the integral sideslip angle compensation term.The adaptive trajectory tracking controller of snake robot is designed.The position error of the robot converges within 10 s,the angle error is less than 0.03 rad,and the predicted value error converges within 5 s.Through simulation experiments,the effectiveness and superiority of the proposed controller are verified.