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针对四轮全向移动机器人动力学模型参数的不确定性以及外部扰动的影响,为提高其轨迹跟踪控制性能,提出了一种基于自适应滑模的四轮全向移动机器人轨迹跟踪控制方法。首先,基于驱动电机参数建立了机器人的动力学模型,在此基础上设计了一种自适应滑模轨迹跟踪控制器;其次,通过低通滤波器滤除轨迹跟踪控制器输出端的高频信号,同时为实现机器人动力学参数的在线估计,提出了一种参数自适应控制算法并利用RBF神经网络实时调整轨迹跟踪控制器的切换增益,以减小系统的抖振;最后,为验证所述方法的有效性,采用MATLAB进行了仿真实验。仿真结果表明,基于自适应滑模控制的四轮全向移动机器人轨迹跟踪方法可以较好地降低参数变化、外部扰动对系统的影响,能够减小系统的抖振,具有较好的抗干扰能力。
In order to improve the performance of trajectory tracking control, a four-wheel omni-directional mobile robot trajectory tracking control method based on adaptive sliding mode is proposed to deal with the uncertainty of four-wheeled omni-directional mobile robot kinematics model parameters and external disturbances. Firstly, a dynamic model of the robot is established based on the parameters of the driving motor, and an adaptive sliding mode trajectory tracking controller is designed. Secondly, a low-pass filter is used to filter out the high-frequency signals of the output of the trajectory tracking controller, At the same time, to realize the on-line estimation of robot dynamics parameters, a parameter adaptive control algorithm is proposed and RBF neural network is used to adjust the switching gain of the trajectory tracking controller in real time to reduce the chattering of the system. Finally, in order to verify the method The effectiveness of using MATLAB simulation. The simulation results show that the four-wheel omni-directional mobile robot trajectory tracking method based on adaptive sliding mode control can reduce the impact of parameter changes and external disturbances on the system, reduce the chattering of the system and have better anti-interference ability .