摘要
针对存在外部干扰的轮式移动机器人轨迹跟踪控制问题,提出了一种带有模糊快速双幂次趋近律的滑模控制策略,以提高轨迹跟踪控制系统的鲁棒性且削弱系统本身的抖振现象。首先,在双幂次趋近律的基础上加一指数项构成快速双幂次趋近律;然后,采用模糊逻辑设计相关规则,达到合理的动态调节快速双幂次趋近律参数的功能;最后,形成轮式移动机器人模糊滑模轨迹跟踪控制系统。仿真结果表明采用所提出的方法能够使轮式移动机器人在干扰情况下具有良好的运动品质和跟踪效果。
For the problem of external disturbed wheeled mobile robots trajectory tracking control, a sliding mode control strategy with fuzzy fast double power law is proposed to improve the robustness and buffeting suppression of trajectory tracking control system. Firstly, an exponential term is added to design fast double power law by double power law. Then, the fuzzy rules are designed to reasonably adjust fast double power law. Finally, a fuzzy sliding mode trajectory tracking control system for wheeled mobile robots is obtained. The simulation results show that the proposed method can make the wheeled mobile robot achieve satisfied tracking effect under disturbance.
作者
尤波
张乐超
李智
丁亮
YOU Bo;ZHANG Le-chao;LI Zhi;DING Liang(College of Automation,Harbin University of Science and Technology,Harbin Heilongjiang 150080,China;State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin Heilongjiang 150080,China)
出处
《计算机仿真》
北大核心
2019年第2期307-313,共7页
Computer Simulation
基金
国家自然科学基金资助项目(61370033)
关键词
轮式移动机器人
轨迹跟踪控制
滑模变结构
模糊快速双幂次
干扰
Wheeled mobile robots
Trajectory tracking control
Sliding mode variable structure
Fuzzy fast double power
Interference
