轮子纵向打滑条件下的移动机器人自适应跟踪控制.pdfVIP

第28 卷 第5 期 控 制 与 决 策 2013 年 5 月 Vol. 28 No. 5 Control and Decision May 2013 文章编号: 1001-0920 (2013) 05-0664-07 轮子纵向打滑条件下的移动机器人自适应跟踪控制 a a,b a b 崔明月 , 孙棣华 , 李永福 , 刘卫宁 ( 重庆大学a. 自动化学院，b. 信息物理社会可信服务计算教育部重点实验室，重庆400044) 摘 要: 针对纵向滑动参数未知的轮式移动机器人的轨迹跟踪问题, 提出一种自适应跟踪控制策略. 利用两个未知参 数来描述移动机器人左右轮的纵向打滑程度, 建立了产生纵向滑动的差分驱动轮式移动机器人的运动学模型; 设计 了补偿纵向滑动的自适应非线性反馈控制律; 应用Lyapunov 稳定性理论与Barbalat 定理证明了闭环系统的稳定性; 同时, 提出了一种由极点配置方法在线调整控制器增益的方法. 仿真结果验证了所提出控制方法的有效性. 关键词: 轮式移动机器人；运动学模型；纵向打滑；自适应控制；反演技术 中图分类号: TP273 文献标志码: A Adaptive tracking control of wheeled mobile robots in presence of longitudinal slipping a a,b a b CUI Ming-yue , SUN Di-hua , LI Yong-fu , LIU Wei-ning (a. College of Automation，b. Key Laboratory of Dependable Service Computing in Cyber Physical Society of Ministry of Education ，Chongqing University，Chongqing 400044，China ．Correspondent ：CUI Ming-yue，E-mail: cuiminyue@) Abstract: Based on wheeled mobile robots with unknown longitudinal slip parameters, an adaptive control strategy for a tracked mobile robot is presented, in which the longitudinal slip of the left and right wheels are described by two unknown parameters. It is assumed that the kinematic model of the tracked robot is approximated by the one of a differential wheeled mobile robot. An adaptive nonlinear feedback control law that compensates for the longitudinal slip is proposed to achieve a given trajectory tracking objective. The asymptotic stability of the close-loop system is ensured by using an appropriate Lyapunov function. The controller gains are determined on