摘要
针对受自身特性和外界干扰的全向移动车辆稳定和高精度的跟踪控制问题,设计了一种基于特征建模的全向车辆自适应跟踪控制方法,建立全向车辆的特征模型,将模型特性整合到特征参数中,并用投影梯度法对特征参数进行在线估计,设计基于特征模型的全系数自适应控制律,并根据Lyapunov理论分析了该控制方法的稳定性。搭建Simulink仿真模型验证了所设计自适应控制方法的有效性与合理性。与其他控制方法进行对比,结果表明:该方法控制精度更高、自适应能力更强、具有更好的鲁棒性。
Aiming at the stable and high-precision tracking control of omnidirectional mobile vehicles affected by their own characteristics and external disturbances,an adaptive tracking control approach for omnidirectional vehicles based on characteristic modeling is designed.The characteristic model is established by integrating the model properties into the characteristic parameters,and the characteristic parameters are estimated online by using the projected gradient method.A full coefficient adaptive control law based on the characteristic model is designed,and the stability of the proposed control method is analyzed by using Lyapunov theory.The effectiveness and rationality of the proposed adaptive control scheme are validated through Simulink simulation.Compared with other approaches,the proposed approach achieves higher control accuracy,stronger adaptability,and better robustness.
作者
程磊
王好友
陈新节
Cheng Lei;Wang Haoyou;Chen Xinjie(Institute of Robotics and Intelligent Systems,Wuhan University of Science and Technology,Wuhan 430081,China)
出处
《系统仿真学报》
CAS
CSCD
北大核心
2024年第10期2277-2287,共11页
Journal of System Simulation
基金
国家自然科学基金(62073250,62173262)。
关键词
全向移动底盘
特征建模
非线性黄金分割自适应控制
参数辨识
跟踪控制
omnidirectional mobile chassis
characteristic modeling
nonlinear golden section adaptive control
parameter identification
tracking control
