非完整约束移动机器人的轨迹跟踪控制研究

发布时间：2018-04-11 07:00

本文选题：移动机器人 + 轨迹跟踪　；参考：《河南科技大学》2017年硕士论文

【摘要】：移动机器人是一个典型的非完整系统,随着智能控制的快速发展,非完整移动机器人的运动控制,特别是轨迹跟踪控制成为了移动机器人研究的重点,但是在实际的工程应用中,由于外部干扰和本身参数未知等不确定因素的存在,导致轨迹跟踪问题研究至今没有一个统一的控制策略,大多研究没有全面考虑这些问题对控制效果的影响。本课题针对这个问题对移动机器人的轨迹跟踪控制策略展开研究,主要研究工作有:首先,对移动机器人本体进行建模。移动机器人的建模问题包括运动学建模和动力学建模两个方面,采用坐标变换法对运动学模型进行建模,同时采用拉格朗日法对动力学模型进行建模。其次,根据系统运动学模型进行轨迹跟踪控制研究。当系统模型的参数已知时,结合Backstepping算法、滑模变结构和模糊逻辑,提出了一种控制器设计方法,并进行参数调试,对参考轨迹进行了跟踪验证。进一步地,考虑到实际情况中,可能存在的模型参数未知的情况,利用自适应控制策略对未知参数进行估计,提出了一种轨迹跟踪控制器的设计方法,最后进行参数调试,对参考轨迹进行了跟踪验证。最后,根据系统动力学模型进行轨迹跟踪控制研究。基于运动学模型方程,选择一个的系统的运动学速度控制律,在充分考虑系统模型存在模型误差和外界未知扰动等不确定性的基础上,应用单层自适应神经网络完成对动力学力矩控制器的设计,最后进行参数调试,对参考轨迹进行了跟踪验证。
[Abstract]:Mobile robot is a typical nonholonomic system. With the rapid development of intelligent control, the motion control of non-holonomic mobile robot, especially trajectory tracking control, has become the focus of mobile robot research.However, in practical engineering applications, due to the existence of uncertainties such as external interference and unknown parameters, so far there is no unified control strategy for trajectory tracking.Most of the studies do not fully consider the effects of these problems on the control effect.In this paper, the trajectory tracking control strategy of mobile robot is studied. The main research work is as follows: first, modeling the mobile robot ontology.The modeling of mobile robot includes kinematic modeling and dynamic modeling. Coordinate transformation method is used to model the kinematics model and Lagrange method is used to model the dynamic model.Secondly, trajectory tracking control is studied according to the kinematics model of the system.When the parameters of the system model are known, a controller design method is proposed based on Backstepping algorithm, sliding mode variable structure and fuzzy logic. The parameters are debugged and the reference trajectory is tracked and verified.Furthermore, considering the fact that the model parameters may be unknown, an adaptive control strategy is used to estimate the unknown parameters, and a design method of trajectory tracking controller is proposed. Finally, the parameters are debugged.The reference trajectory is tracked and verified.Finally, trajectory tracking control is studied according to the system dynamics model.Based on the kinematics model equation, the kinematics velocity control law of a system is selected, and the uncertainty of the system model such as model error and unknown disturbance is fully considered.A single-layer adaptive neural network is used to design the dynamic torque controller. Finally, the parameters are debugged and the reference trajectory is tracked and verified.
【学位授予单位】：河南科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【参考文献】