基于双环轨迹跟踪控制的移动机器人控制器设计
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摘要
为实现稳定的内环滑膜控制,通过调整内外环控制增益系数,使其内环收敛速度远大于外环的收敛速度,即通过姿态角度θ快速跟踪θd使闭环系统的稳定得以实现。控制仿真结果表明该方法是一种可行、有效的寻优方法,这一控制方式使移动机器人系统具有良好的跟踪性能。
In order to realize the stable inner loop synovial control, by adjusting the gain coefficient of the inner loop control,the convergence rate of the inner loop is much faster than that of the outer loop, that is, the stability of the closed loop system can be realized by quickly tracking θdthrough the attitude angleθ. The control simulation results show that the method is a feasible and effective optimization method, and this control method makes the mobile robot system have good tracking performance.
In order to realize the stable inner loop synovial control, by adjusting the gain coefficient of the inner loop control,the convergence rate of the inner loop is much faster than that of the outer loop, that is, the stability of the closed loop system can be realized by quickly tracking θdthrough the attitude angleθ. The control simulation results show that the method is a feasible and effective optimization method, and this control method makes the mobile robot system have good tracking performance.
引文
[1]张启彬,王鹏,陈宗海.基于速度空间的移动机器人同时避障和轨迹跟踪方法[J].控制与决策,2017,32(2):358-362.
[2]刘国荣,张扬名.移动机器人轨迹跟踪的模糊PID-P型迭代学习控制[J].电子学报,2013,41(8):1536-1541.
[3]高峰.机器人跟踪控制方法分析与研究[J].科学中国人,2017(4Z):21-21.
[4]骆德渊,刘荣,李纪文.采用模糊逻辑的移动机器人轨迹跟踪[J].电子科技大学学报,2008,37(6):943-946.
[5]Sarkar S, Kar I N. Formation of multiple groups of mobile robots using sliding mode control[C]//Decision&Control. 2016.
[6]任国华.移动机器人轨迹跟踪与运动控制[J].机械设计与制造,2014(3):100-102.
[7]吴卫国,陈辉堂,王月娟.移动机器人的全局轨迹跟踪控制[J].自动化学报,2001,27(03):326-331.
[8]Yazdjerdi P, Meskin N. Fault tolerant control of differential drive mobile robots using sliding mode controller[C]//2017 5th International Conference on Control, Instrumentation, and Automation(ICCIA). 2018.
[9]徐俊艳,张培仁.非完整轮式移动机器人轨迹跟踪控制研究[J].中国科学技术大学学报,2004,34(3).
[10]冯剑,张文安,倪洪杰,等.轮式移动机器人轨迹跟踪的PID控制方法[J].信息与控制,2017,46(4):385-393.
[2]刘国荣,张扬名.移动机器人轨迹跟踪的模糊PID-P型迭代学习控制[J].电子学报,2013,41(8):1536-1541.
[3]高峰.机器人跟踪控制方法分析与研究[J].科学中国人,2017(4Z):21-21.
[4]骆德渊,刘荣,李纪文.采用模糊逻辑的移动机器人轨迹跟踪[J].电子科技大学学报,2008,37(6):943-946.
[5]Sarkar S, Kar I N. Formation of multiple groups of mobile robots using sliding mode control[C]//Decision&Control. 2016.
[6]任国华.移动机器人轨迹跟踪与运动控制[J].机械设计与制造,2014(3):100-102.
[7]吴卫国,陈辉堂,王月娟.移动机器人的全局轨迹跟踪控制[J].自动化学报,2001,27(03):326-331.
[8]Yazdjerdi P, Meskin N. Fault tolerant control of differential drive mobile robots using sliding mode controller[C]//2017 5th International Conference on Control, Instrumentation, and Automation(ICCIA). 2018.
[9]徐俊艳,张培仁.非完整轮式移动机器人轨迹跟踪控制研究[J].中国科学技术大学学报,2004,34(3).
[10]冯剑,张文安,倪洪杰,等.轮式移动机器人轨迹跟踪的PID控制方法[J].信息与控制,2017,46(4):385-393.