Adaptive Tracking Control for Omnidirectional Vehicle Based on Characteristic Modeling

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

Abstract

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

CLC Number:

TP273

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.

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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	—

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