轮式机器人基于后推设计的PD控制

Backstepping- based PD Control for Wheeled Robots

针对强耦合非线性的轮式机器人控制问题,提出了一种基于后推的自适应控制方法。建立轮式机器人动力学模型,借助后推方法将复杂的系统分解为若干个简单的子系统,再借助李亚普诺夫理论和中间虚拟变量递推地设计了控制律。由于PD控制器的设计不受系统不确定模型的影响,且具有较好工程应用价值,因此在首次递推中设计了PD控制律,并以此为原控制器递推地设计了最终控制律,仿真验证了控制方法的有效性。

The control problems of strong coupling nonlinear wheeled robots are studied and the backsteppingbased PID controller is proposed in the present paper. The kinetic model for wheeled robots is established, the complex system is decomposed into several simple sub-systems, the control laws are designed by means of Lyapunov theory and the middle virtual variable values. Since the PD controller is not affected by uncertain model system and has a good engineering application value, the PD control law is designed. The final control law is designed base on the original PD controller. The simulation results indicate that the PD controller based on back-stepping can reach good control precision.