摘要
针对移动机器人非时间参考控制方法的不足之处,借鉴生物免疫反馈响应过程的调节规律,提出了移动机器人的免疫非时间参考路径跟踪控制方法。该方法既有不依时间规划调节输出控制的特性,而且充分考虑到机器人机械结构与电机力矩特性的要求,实现了在误差较大时对控制量的限幅;通过选取合适参数,还能减小系统的超调量,进一步改善整个控制系统的性能。对于动态事件,采用插入算法,提高机器人对动态环境适应能力,使控制方法更适宜实际应用。仿真与实物实验,验证了该方法的有效性。
Based on the regulation law of immunity feedback response in biology,a compound path tracking control method is proposed for the problem existing in the non-time based approach of mobile robots.It keeps the merit of non-time based approach.It is featured by fully considered mechanism of the robot and the request of motor torque ,limits the peak-to-peak value when the error is bigger.Through selecting appropriate parameters,it can also reduce the system overshoot,further improve the performance of the entire control system,enhance tracking capabilities and self-adaptability in the uncertain environment.Simulation and experiment results demonstrate that the proposed method is effective and practical.
出处
《计算机工程与应用》
CSCD
北大核心
2007年第23期211-214,225,共5页
Computer Engineering and Applications
