复杂干扰下的管沟机器人内外环滑模自抗扰控制

Inner-outer Loop Sliding Mode Self-disturbance Rejection Control of Pipeline Inspection Robot Under Complex Interference

管沟机器人是一种运行在排水管道,公路排水渠的欠驱动差分移动机器人,针对管沟机器人在实际环境中受到的复杂环境干扰,为了使管沟机器人具有更好的运动控制性能,提出了一种内外环的滑模自抗扰控制方法;首先对管沟受到的复杂环境干扰进行分析,将管沟机器人受到的复杂环境干扰解耦成横向和纵向干扰,建立出在干扰情况下的运动学模型;依据理想运动学模型建立出外环的滑模控制器,得出理想控制律,依据干扰运动学模型建立扩张状态观测器,观测出环境干扰数值,从而建立内环的滑模控制器,利用观测值修正外环的理想控制律;同时利用Lyapunov稳定性原理对系统进行分析,最后搭建了Matlab的Simulink模型进行仿真验证,最终证明了所提出的方法具有较强的鲁棒性和运动控制性能。

A pipeline inspection robot is the under-actuated differential mobile robot that operates in drainage pipes and highway drainage channels.To improve its motion control performance affected by complex environmental disturbance in actual environments,a sliding mode self-disturbance rejection control method with inner and outer loops is proposed.Firstly,the complex environmental disturbances affecting the pipeline are analyzed and decoupled into lateral and longitudinal disturbances.Based on this,a kinematic model under the disturbance conditions is established.According to the ideal kinematic model,an outer loop sliding mode controller is built to obtain the ideal control law.Additionally,according to the disturbance kinematic model,a state observer based on the extended state is established to observe the environmental disturbance value.Then,an inner loop sliding mode controller is built to correct the outer loop ideal control law by using the observed values.The Lyapunov stability principle is used to analyze the system,Finally,the Matlab Simulink model of the system is constructed for the simulation verification.The results demonstrate that the proposed method has a strong robustness and motion control performance.