四轮滑动转向机器人的轨迹跟踪控制研究

发布时间：2018-02-21 01:36

本文关键词： 四轮滑动转向机器人轨迹跟踪反演控制滑模控制自适应控制　出处：《大连海事大学》2017年硕士论文　论文类型：学位论文

【摘要】：轮式移动机器人具有灵活稳定的运动性能而使其在生产生活中有广阔的应用前景,近些年来有关移动机器人的研究正受到越来越多的关注。本文以四轮滑动转向机器人为研究对象,围绕其运动控制中的轨迹跟踪问题展开研究。首先建立出四轮滑动转向机器人的非完整约束方程,并分析了加入侧向速度时误差方程的推导过程。基于移动机器人的运动学模型分别设计了反演和反演滑模轨迹跟踪控制律,通过构造Lyapunov函数证明了在两组控制律下系统的全局稳定性,并根据圆形和S形轨迹的跟踪结果进行了跟踪有效性的比较和分析。然后设计了含有阶跃变化的打滑系数来模拟移动机器人在实际路面上的运动,针对常规反演控制在模型参数波动条件下出现位姿保持能力下降的现象,通过建立新的跟踪误差方程,用估计函数实时估计轮地间的打滑系数以修正控制器输出,改善了控制系统在对象模型参数波动条件下的控制稳定性,并通过实验仿真结果证明了控制算法的有效性。考虑到移动机器人如果在转弯时具有较大的转向速度,车体的侧向滑动现象较为明显,此时的侧偏角较大,移动机器人的侧向速度不能忽略,所以本文最后根据加入侧向速度后的轨迹跟踪误差方程设计出具有3个切换面的滑模跟踪控制器,通过仿真结果验证了控制效果,并设计了自适应滑模控制算法以解决控制系统在模型参数变化时产生的不稳定,通过实验仿真验证了控制算法的有效性。
[Abstract]:The wheeled mobile robot has flexible and stable motion performance, which makes it have a broad application prospect in production and life. In recent years, more and more attention has been paid to the research of mobile robot. The trajectory tracking problem in motion control is studied. Firstly, the nonholonomic constraint equation of a four-wheel sliding steering robot is established. Based on the kinematics model of the mobile robot, the inverse and inverse sliding mode trajectory tracking control laws are designed, respectively. The global stability of the system under two sets of control laws is proved by constructing the Lyapunov function. According to the tracking results of circular and S-shaped trajectories, the tracking effectiveness is compared and analyzed. Then, a slip coefficient with step variation is designed to simulate the movement of mobile robot on the actual road surface. Aiming at the phenomenon that the position and attitude retention ability of conventional inversion control decreases under the condition of model parameter fluctuation, a new tracking error equation is established, and the slip coefficient between wheels is estimated in real time by using the estimation function to correct the output of the controller. The control stability of the control system under the condition of object model parameter fluctuation is improved, and the effectiveness of the control algorithm is proved by the experimental simulation results. The lateral slippage of the car body is obvious, and the lateral slip angle of the mobile robot can not be ignored. Therefore, a sliding mode tracking controller with three switching surfaces is designed according to the trajectory tracking error equation with lateral velocity. The simulation results verify the control effect. An adaptive sliding mode control algorithm is designed to solve the instability of the control system when the model parameters change. The effectiveness of the control algorithm is verified by experimental simulation.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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