论文部分内容阅读
非完整轮式移动机器人的路径跟踪,需要在保证机器人姿态跟踪精度的同时,增强其地面适应性能.为实现这种运动/力的协调控制目标,本文提出双闭环的控制系统结构:外环能够增加运动精度,内环则可以增强机器人对地面动态摩阻的适应性.同时,考虑到地面摩阻的慢时变性,本文通过构造观测器对其进行估计.在具体算法实现方面,采用反步法在外环构建运动控制器:而在内环,则是应用积分型的滑模技术设计力控制器与观测器.最后,对控制系统进行仿真,仿真结果证明所提出控制方法的有效性.
In order to achieve the goal of coordinated motion and force control, path control of non-complete wheeled mobile robots needs to enhance the ground adaptability while keeping the robot attitude tracking accuracy. In this paper, a double-closed loop control system structure is proposed: Increase the motion accuracy, the inner ring can enhance the robot’s adaptability to the ground dynamic friction.At the same time, taking into account the slow time-varying of the ground friction, this paper estimates the structure by constructing the observer.With the implementation of the specific algorithm, In the inner ring, integral controller is used to design the force controller and observer.Finally, the control system is simulated and the simulation results show the effectiveness of the proposed control method.