摘要
针对爬壁机器人建模不准确及容易受外部扰动的影响造成位置及姿态误差的问题,提出了一种基于改进型非线性干扰观测器的轨迹跟踪控制方案.首先通过反演控制设计了一个运动学控制器为机器人动力学控制提供参考质心速度与角速度.其次应用改进型非线性扰动观测器作为前馈控制对建模误差及外部扰动进行估计,并保证扰动误差以指数形式收敛.最后针对引入干扰观测器的动力学模型设计了滑模控制器.该方案对外界干扰进行了快速补偿,并通过Lyapunov定理证明了其稳定性.仿真结果表明该控制方法对于克服建模误差及外界干扰具有较好的效果.
A trajectory tracking control scheme based on an improved nonlinear disturbance observer is presented to address the position and attitude errors caused by inaccurate modeling and vulnerability to external disturbances of wallclimbing robots.First,a kinematic controller is designed through back stepping control to provide reference centroid velocity and angular velocity for dynamic control of robots.Secondly,an improved nonlinear disturbance observer serves as a feed forward controller to estimate modeling errors and external disturbances of the dynamic model,ensuring exponential convergence of disturbance errors.Finally,a sliding mode controller is designed based on the dynamic model with an interference observer.The scheme compensates for external disturbances quickly and its stability is proven by Lyapunov’s theorem.The simulation results demonstrate that the control scheme performs well in avoiding modeling errors and external interferences.
作者
曹锦波
潘海鹏
张益波
CAO Jin-Bo;PAN Hai-Peng;ZHANG Yi-Bo(Faculty of Mechanical Engineering&Automation,Zhejiang Sci-Tech University,Hangzhou 310018,China)
出处
《计算机系统应用》
2021年第2期28-34,共7页
Computer Systems & Applications
关键词
爬壁机器人
运动学
动力学
干扰观测器
滑模控制
wall-climbing robot
kinematics
dynamics
disturbance observer
sliding mode control
