摘要
针对智能机器人提出了一种考虑随机延迟的鲁棒路径跟踪控制算法。首先,考虑到系统的非线性特征,采用二型模糊模型方法逼近系统横向动力学;其次,为了兼顾时变数据丢失和网络延迟的影响,提出一种广义的集总延迟形式来统一时变数据丢失和网络延迟,并将其描述为随机分布;然后,基于李亚普诺夫函数理论,给出了一组充分条件,用于计算所设计控制器的增益;最后,进行了仿真模拟,以说明所提方法的有效性和鲁棒性。
Aiming at intelligent robots,a robust path tracking control algorithm considering random delay is proposed.Firstly,considering nonlinear characteristics of the system,a type-2 fuzzy modeling approach is used to approximate the lateral dynamics of the system.Secondly,in order to take into account the effects of time-varying data loss and network delay,a generalized form of aggregate delay is proposed to unify the time-varying data loss and the network delay,which is described as stochastic distribution.Then,a set of sufficient conditions based on Lyapunov function theory is given for calculating the gain of the designed controller.Finally,simulations are performed to illustrate the effectiveness and robustness of the proposed method.
作者
李强
李斌
李春明
王洪波
LI Qiang;LI Bin;LI Chunming;WANG Hongbo(Guangdong Airport Authority,Guangzhou 510440,China;HIT Robot Group(Zhongshan)Institute of Unmanned Equipment and Artificial Intelligence,Zhongshan 528400,China)
出处
《传感器与微系统》
CSCD
北大核心
2023年第10期36-39,43,共5页
Transducer and Microsystem Technologies
基金
广东省重点领域研发计划资助项目(2020B0101130024)。
