摘要
利用Backstepping控制算法实现具有差速转向特征的履腿复合式移动机器人的轨迹跟踪控制。提出基于Backstepping方法的机器人轨迹跟踪控制总体方案;在完成机器人运动学建模的基础上,设计基于Backstepping方法的轨迹跟踪控制律。利用该跟踪控制算法实现了履腿复合式移动机器人进行直线与圆形两种轨迹跟踪的实验验证,并与传统的PID轨迹跟踪控制算法进行对比实验。实验结果表明,基于Backstepping方法的轨迹跟踪控制律能够更快速有效地进行轨迹跟踪,具有更好的控制性能。
Trajectory tracking control of a track-legged mobile robot with differential steering characteristics is realized by using Backstepping control algorithm.A general scheme of robot trajectory tracking control based on Backstepping method is presented.On the basis of robot kinematics modeling,a trajectory tracking control law based on Backstepping method is designed.Using the tracking control algorithm,the experimental verification of linear and circular track tracking of the track-legged mobile robot is realized and compared with the experiments using the traditional PID trajectory tracking control algorithm.The experimental results show that with the trajectory tracking control law based on Backstepping method the robot can track the trajectory more quickly and effectively and has better control performance.
作者
李艳杰
何乃峰
范晓亮
LI Yanjie;HE Naifeng;FAN Xiaoliang(Shenyang Ligong University,Shenyang 110159,China;Taizhou Xiangda Fire Service Implement Co.,Ltd,Taizhou 225300,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China)
出处
《沈阳理工大学学报》
CAS
2019年第2期54-59,共6页
Journal of Shenyang Ligong University
基金
国家重点研发计划“战略性国际科技创新合作”重点专项(2016YFE0206200)
