基于特征建模的全向车辆自适应跟踪控制研究

doi:10.16182/j.issn1004731x.joss.23-0679

摘要/Abstract

摘要：

针对受自身特性和外界干扰的全向移动车辆稳定和高精度的跟踪控制问题，设计了一种基于特征建模的全向车辆自适应跟踪控制方法，建立全向车辆的特征模型，将模型特性整合到特征参数中，并用投影梯度法对特征参数进行在线估计，设计基于特征模型的全系数自适应控制律，并根据Lyapunov理论分析了该控制方法的稳定性。搭建Simulink仿真模型验证了所设计自适应控制方法的有效性与合理性。与其他控制方法进行对比，结果表明：该方法控制精度更高、自适应能力更强、具有更好的鲁棒性。

关键词: 全向移动底盘, 特征建模, 非线性黄金分割自适应控制, 参数辨识, 跟踪控制

Abstract:

Aiming at the stable and high-precision tracking control of omnidirectional mobile vehicles affected by their own characteristics and external disturbances, an adaptive tracking control approach for omnidirectional vehicles based on characteristic modeling is designed. The characteristic model is established by integrating the model properties into the characteristic parameters, and the characteristic parameters are estimated online by using the projected gradient method. A full coefficient adaptive control law based on the characteristic model is designed, and the stability of the proposed control method is analyzed by using Lyapunov theory. The effectiveness and rationality of the proposed adaptive control scheme are validated through Simulink simulation. Compared with other approaches, the proposed approach achieves higher control accuracy, stronger adaptability, and better robustness.

Key words: omnidirectional mobile chassis, characteristic modeling, nonlinear golden section adaptive control, parameter identification, tracking control

中图分类号:

TP273

程磊,王好友,陈新节 . 基于特征建模的全向车辆自适应跟踪控制研究[J]. 系统仿真学报, 2024, 36(10): 2277-2287.

Cheng Lei,Wang Haoyou,Chen Xinjie . Adaptive Tracking Control for Omnidirectional Vehicle Based on Characteristic Modeling[J]. Journal of System Simulation, 2024, 36(10): 2277-2287.

图/表 21

图1

图2

表1

图3

图4

图5

图6

图7

图8

表2

图9

图10

图11

图12

图13

图14

图15

图16

图17

图18

图19

参考文献 18

1	Sun Zhe, Hu Shujie, He Defeng, et al. Trajectory-tracking Control of Mecanum-wheeled Omnidirectional Mobile Robots Using Adaptive Integral Terminal Sliding Mode[J]. Computers & Electrical Engineering, 2021, 96, Part A: 107500.
2	Ren Chao, Ding Yutong, Ma Shugen, et al. Passivity-based Tracking Control of an Omnidirectional Mobile Robot Using Only One Geometrical Parameter[J]. Control Engineering Practice, 2019, 90: 160-168.
3	Sun Zhe, Hu Shujie, Xie Hao, et al. Fuzzy Adaptive Recursive Terminal Sliding Mode Control for an Agricultural Omnidirectional Mobile Robot[J]. Computers and Electrical Engineering, 2023, 105: 108529.
4	刘东阳, 查文文, 陶亮, 等. 基于LSTM和SMC的农用履带机器人轨迹跟踪控制[J]. 系统仿真学报, 2023, 35(4): 747-759.
	Liu Dongyang, Zha Wenwen, Tao Liang, et al. Trajectory Control of Crawler Robot Based on LSTM and SMC[J]. Journal of System Simulation, 2023, 35(4): 747-759.
5	Lu X, Zhang X, Zhang G, et al. Neural Network Adaptive Sliding Mode Control for Omnidirectional Vehicle with Uncertainties[J]. ISA Transactions, 2019, 86: 201-214.
6	路宏广, 赵树恩. 基于鲁棒模型预测的智能汽车轨迹跟踪控制研究[J]. 系统仿真学报, 2022, 34(1): 153-162.
	Lu Hongguang, Zhao Shuen. Research on Intelligent Vehicle Trajectory Tracking Control Based on Robust Model Prediction[J]. Journal of System Simulation, 2022, 34(1): 153-162.
7	Yin Hui, Chen Y H, Yu Dejie, et al. Adaptive Robust Control for a Soft Robotic Snake: A Smooth-zone Approach[J]. Applied Mathematical Modelling, 2020, 80: 454-471.
8	Kong Linghuan, Zhang Shuang, Yu Xinbo. Approximate Optimal Control for an Uncertain Robot Based on Adaptive Dynamic Programming[J]. Neurocomputing, 2021, 423: 308-317.
9	Liu Chengxiang, Zhao Zhijia, Wen Guilin. Adaptive Neural Network Control with Optimal Number of Hidden Nodes for Trajectory Tracking of Robot Manipulators[J]. Neurocomputing, 2019, 350: 136-145.
10	Reza J Harandi M, Khalilpour S A, Taghirad Hamid D, et al. Adaptive Control of Parallel Robots with Uncertain Kinematics and Dynamics[J]. Mechanical Systems and Signal Processing, 2021, 157: 107693.
11	吴宏鑫, 胡军, 解永春. 基于特征模型的智能自适应控制[M]. 北京: 中国科学技术出版社, 2009: 12-78.
	Wu Hongxin, Hu Jun, Xie Yongchun. Characteristic Model-based Intelligent Adaptive Control[M]. Beijing: China Science and Technology Press, 2009: 12-78.
12	徐李佳, 胡勇. 基于一阶特征模型的自适应跟踪控制方法[J]. 控制与决策, 2016, 31(9): 1692-1696.
	Xu Lijia, Hu Yong. Adaptive Tracking Control Method Based on the First-order Characteristic Model[J]. Control and Decision, 2016, 31(9): 1692-1696.
13	Chang Yafei, Jiang Tiantian, Pu Zhiqiang. Adaptive Control of Hypersonic Vehicles Based on Characteristic Models with Fuzzy Neural Network Estimators[J]. Aerospace Science and Technology, 2017, 68: 475-485.
14	张世俊, 邢琰. 参数不确定机器人关节特征建模与自适应控制研究[J]. 载人航天, 2019, 25(5): 625-630.
	Zhang Shijun, Xing Yan. Research on Joint Characteristics Modeling and Adaptive Control of Robot with Uncertain Parameters[J]. Manned Spaceflight, 2019, 25(5): 625-630.
15	吴宏鑫, 王颖, 解永春. 非线性黄金分割自适应控制[J]. 宇航学报, 2002, 23(6): 19-26.
	Wu Hongxin, Wang Ying, Xie Yongchun. Nonlinear Golden-section Adaptive Control[J]. Journal of Astronautics, 2002, 23(6): 19-26.
16	Yang Junchun, Hu Jun, Ni Maolin. Adaptive Guidance Law Design Based on Characteristic Model for Reentry Vehicles[J]. Science in China Series F: Information Sciences, 2008, 51(12): 2005-2021.
17	胡军. 高超声速飞行器非线性自适应姿态控制[J]. 宇航学报, 2017, 38(12): 1281-1288.
	Hu Jun. The Nonlinear Adaptive Attitude Control for Hypersonic Vehicle[J]. Journal of Astronautics, 2017, 38(12): 1281-1288.
18	吴宏鑫, 刘一武, 刘忠汉, 等. 特征建模与挠性结构的控制[J]. 中国科学E辑: 技术科学, 2001, 31(2): 137-149.

参数	数值
车辆质量m/kg	17.1
车轮半径R/m	0.076 25
平台宽度W/m	0.02
平台长度L/m	0.185
车轮转动惯量J_w/(kg∙m²)	2.5
车辆转动惯量J_z/(kg∙m²)	0.1
车轮摩擦系数D_w	0.1
电机空载转速n/(r/min)	482

方法控制	性能参数	右前轮	左前轮	左后轮	右后轮
PID	超调量/%	—	6.68	—	6.67
	调节时间/s	—	2.72	—	2.74
	最大偏差/(rad/s)	2.314	—	1.649	—
线性GSAC	超调量/%	—	0	—	0
	调节时间/s	—	1.22	—	1.21
	最大偏差/(rad/s)	1.640	—	0.910	—
非线性GSAC	超调量/%	—	0	—	0
	调节时间/s	—	1.09	—	1.06
	最大偏差/(rad/s)	0.983	—	0.100	—

[1]	李晴昊, 任俊生, 华焱. 基于均方根容积卡尔曼滤波的船舶操纵运动响应模型参数辨识[J]. 系统仿真学报, 2024, 36(8): 1790-1799.
[2]	路宏广, 赵树恩. 基于鲁棒模型预测的智能汽车轨迹跟踪控制研究[J]. 系统仿真学报, 2022, 34(1): 153-162.
[3]	吴小龙, 夏甫根, 陈静, 徐佳. 基于能量最优的无人驾驶汽车路径跟踪控制[J]. 系统仿真学报, 2022, 34(1): 163-169.
[4]	徐鹏, 冯国奇, 代学武, 崔东亮, 魏七龙, 李宝旭, 李建明. 高铁限速运行时分的小数据驱动建模与仿真[J]. 系统仿真学报, 2021, 33(8): 1892-1904.
[5]	冷姚, 赵树恩. 智能车辆横向轨迹跟踪的显式模型预测控制方法[J]. 系统仿真学报, 2021, 33(5): 1177-1187.
[6]	李琳, 林燕龙, 邹焱飚. Scara机器人关节摩擦建模与补偿的实验与仿真[J]. 系统仿真学报, 2019, 31(8): 1572-1581.
[7]	钟晶亮, 苟小龙, 邓彤天. 汽轮机及调节系统参数直接辨识法研究及应用[J]. 系统仿真学报, 2018, 30(9): 3312-3318.
[8]	沈艳霞, 靳保龙. 永磁同步电机模糊遗忘因子最小二乘法参数辨识[J]. 系统仿真学报, 2018, 30(9): 3404-3410.
[9]	吴定会, 黄旭, 全亚威, 纪志成. 基于变异珊瑚礁算法的永磁同步电机参数辨识[J]. 系统仿真学报, 2018, 30(8): 3024-3032.
[10]	马立新, 吕梦圆. 氨法脱硫自适应实时跟踪控制系统[J]. 系统仿真学报, 2018, 30(5): 1838-1843.
[11]	陈锦宝, 李杰, 王艳, 纪志成. 融合Levy飞行的教与学优化算法的PMSM参数辨识[J]. 系统仿真学报, 2018, 30(4): 1456-1463.
[12]	吴定会, 张建宇, 沈艳霞, 纪志成. 基于多新息近似最小一乘算法PMSM参数辨识[J]. 系统仿真学报, 2018, 30(3): 1001-1007.
[13]	王梦秋, 王艳, 纪志成. 基于改进樽海鞘群算法的PMSM多参数辨识[J]. 系统仿真学报, 2018, 30(11): 4284-4292.
[14]	范云生, 孙晓界, 王国峰, 郭晨. 一种无人水面艇自主动态避碰跟踪控制方法[J]. 系统仿真学报, 2018, 30(10): 3781-3788.
[15]	马飞, 吴云洁, 程明智. 基于自抗扰解耦的BTT导弹非奇异终端滑模控制[J]. 系统仿真学报, 2017, 29(9): 2175-2181.