具有不确定滑转的轮式移动机器人轨迹跟踪控制方法

Trajectory Tracking Control Method of Wheeled Mobile Robot with Uncertain Slippage

轮式移动机器人在松软复杂地形条件下容易发生车轮滑转,影响轨迹跟踪精度.为提高机器人在该情况下的轨迹跟踪准确性,提出了一种基于容错控制的自适应滑转补偿控制器.首先,考虑车轮滑转率建立了四轮移动机器人运动学模型,并构建了相应的轨迹跟踪误差模型;然后,根据容错控制方法设计了滑转补偿项,并基于Lyapunov稳定性理论证明了自适应滑转补偿控制器的稳定性,实现了对由车轮滑转引起的速度误差的准确补偿;最后,利用四轮移动机器人进行了两种工况下的实验验证.结果表明,设计的控制器能够使移动机器人在未知的车轮滑转率条件下准确跟踪理想路径,并且相较于常规控制器有更强的鲁棒性和更高的跟踪精度.

Wheeled mobile robots are prone to wheel slippage on soft and complex terrains,which affects trajectory tracking accuracy.To improve the trajectory tracking accuracy of robots under such conditions,an adaptive slip compensation controller(ASCC)based on fault‑tolerant control(FTC)is proposed.Firstly,a kinematic model of a four‑wheeled mobile robot(4 WMR)is established by considering wheel slippage rates,and the corresponding trajectory tracking error model is constructed.Then,based on the FTC method,a slippage compensation term is designed.The stability of the ASCC is proven using Lyapunov stability theory,achieving accurate compensation for the velocity error caused by wheel slippage.Finally,experiments under two working conditions are conducted on the 4 WMR.The results show that the designed controller enables the mobile robot to track the desired path under unknown wheel slippage rates,and it exhibits stronger robustness and higher tracking accuracy compared to the conventional controllers.