非完整移动机器人在线辨识级联路径跟随控制

系统仿真学报 ›› 2015, Vol. 27 ›› Issue (11): 2748-2755.

• 信息、控制、决策与仿真 • 上一篇下一篇

非完整移动机器人在线辨识级联路径跟随控制

刘子龙¹, 胡少凯¹, 刘洁², 王亚刚¹

1.上海理工大学光电信息与计算机工程学院,上海 200093;
2.东北轻合金有限责任公司,计量控制中心,哈尔滨 150060

收稿日期:2013-01-15 修回日期:2013-04-18 出版日期:2015-11-08 发布日期:2020-08-05
作者简介:刘子龙(1972-),男,山东,博士,副教授,研究方向为机器人控制;胡少凯(1989-),男,湖北,硕士生,研究方向为机器人控制;刘洁(1963-),女,吉林,本科,高工,研究方向为信息检测。
基金资助:
国家自然科学基金(61074087)

Online Identification Path Following Cascade Control of Non-holonomic Mobile Robot

Liu Zilong¹, Hu Shaokai¹, Liu Jie², Wang Yagang¹

1. School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;
2. Core of Measure Control, North East Light Alloy Co. , Ltd. , Harbin 150060, China

Received:2013-01-15 Revised:2013-04-18 Online:2015-11-08 Published:2020-08-05

摘要/Abstract

摘要： 研究了一类直流电机驱动的轮式移动机器人路径跟随控制问题。轮式移动机器人模型被视为由电机的驱动方程和移动机器人的运动学方程所组成的级联系统,将电机驱动方程输出的转速作为运动学方程的输入,在线辨识驱动方程中的时变参数,将辨识结果加入到控制器中,制定出反馈线性化路径跟随控制方案,该方案同时兼顾了车体运动学模型、电机驱动模型的动态特性,使得研究结果与实际相符合。基于李亚普诺夫稳定性的证明和仿真结果证明了该方法的正确性和有效性。

关键词: 移动机器人, 在线辨识, 级联系统, 反馈线性化, 路径跟随

Abstract: A DC motor driven wheeled mobile robot path following control problem was considered, where the robot model was regarded as a cascade system consisting of the equation of the drive motor and the mobile robot kinematics equations. Taking the output speed of motor-driven equation as the input of the kinematic equations, identifying these time-varying parameters of the driven equation online, adding the values after identification to the controller, a feedback linearization path following control scheme was proposed. The scheme both investigates the dynamic characteristics of kinematics model and motor drive, so that the results better follow the actual cases. The stability proof and simulation results based on Lyapunov show the correctness and validity of the method.

Key words: mobile robot, online identification, cascaded system, feedback linearization, path following

中图分类号:

TP242.6

刘子龙, 胡少凯, 刘洁, 王亚刚. 非完整移动机器人在线辨识级联路径跟随控制[J]. 系统仿真学报, 2015, 27(11): 2748-2755.

Liu Zilong, Hu Shaokai, Liu Jie, Wang Yagang. Online Identification Path Following Cascade Control of Non-holonomic Mobile Robot[J]. Journal of System Simulation, 2015, 27(11): 2748-2755.

参考文献

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非完整移动机器人在线辨识级联路径跟随控制

Online Identification Path Following Cascade Control of Non-holonomic Mobile Robot

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