双闭环滑模控制移动机器人的运动轨迹

Motion Trajectory of Mobile Robot Controlled by Double Closed-loop Sliding Mode

为实现对移动机器人运动轨迹的精准跟踪与控制,通过移动机器人的运动模型,推导出其动力学方程式,并对传统滑模控制器进行改进,设计了一种双闭环滑模控制器,以取代传统的滑模控制方法。利用MATLAB对移动机器人轨迹进行仿真,将仿真结果与滑模控制器输出效果进行对比,发现采用双闭环滑模控制器的移动机器人在X方向、Y方向和旋转方向的跟踪误差范围分别降低了1.5×10^(-2)m,1.8×10^(-2)m和0.5 deg,反应速度较快,跟踪精度较高,具有较强的鲁棒性。

In order to realize the accurate tracking and control of the motion trajectory of the mobile robot,the dynamic equation of the mobile robot is derived through the motion model of the mobile robot,and the traditional sliding mode controller has been improved.A double closed-loop sliding mode controller is designed to replace the traditional sliding mode control method.The trajectory of mobile robot is simulated by MATLAB,and the simulation results are compared with the output effect of sliding mode controller.The results show that the tracking error range of the mobile robot using the double closed-loop sliding mode controller is reduced by 1.5×10m,1.8×10m and 0.5 deg in the X direction,the Y direction and the rotation direction,respectively with fast response speed,high tracking accuracy and strong robustness.