摘要
首先利用几何结构关系理清了三轮移动机器人的所有非完整约束和完整约束,然后结合非完整力学系统的Euler-Lagrange方程计算得到其动力学方程。为了使得三轮移动机器人能够精确地沿着给定的轨迹曲线运动,将目标轨迹曲线转化为速度形式,然后通过引入一个微分同胚变换将该速度目标转化为和实际初始速度更为接近的形式,从而达到尽量减少控制系统的初始速度误差和累积位置误差的目的,最后结合最优控制和积分滑模控制方法为三轮移动机器人设计鲁棒跟踪控制器。仿真结果显示,提出的轨迹跟踪目标设计和控制方法能使三轮移动机器人精确沿着给定目标轨迹曲线运动,并具有一定的鲁棒性。
At first,the non-holonomic and holonomic constraints of the three-wheeled mobile robot were clarified by means of its geometric relation.Then,its dynamical equation was deduced by using the Euler-Lagrange equation of non-holonomic mechanical systems.In order to make the three-wheeled mobile robot move along a given trajectory curve accurately,the target trajectory curve was transformed into a speed form.After that,the speed target was converted to a form approximating to the actual initial speed by introducing a differential homeomorphic transformation.In this case,the initial speed error and cumulative position error of the controlled systems can be minimized.Finally,the trajectory tracking control of the three-wheeled mobile robot was designed by using optimal control and integral sliding mode control.Simulation results show that the proposed control method can compel the three-wheeled mobile robot to move along a given trajectory curve accurately with a certainty of robustness.
作者
文相容
周宇生
WEN Xiangrong;ZHOU Yusheng(School of Mathematics and Statistics,Guizhou University,Guiyang 550025,P.R.China)
出处
《重庆大学学报》
EI
CAS
CSCD
北大核心
2021年第5期124-134,共11页
Journal of Chongqing University
基金
国家自然科学基金资助项目(11802065)
贵州省科技计划项目(黔科合基础[2018]1047)
贵州大学引进人才科研项目(贵大人基合字[2017]61)。
关键词
三轮移动机器人
非完整约束
累积位置误差
积分滑模控制
轨迹跟踪目标
最优控制
three-wheeled mobile robot
non-holonomic constraint
cumulative position error
integral sliding mode control
trajectory tracking target
optimal control
