独轮车机器人的动力学建模与非线性控制.pdfVIP

第21 卷第9 期 系 统 仿 真 学 报© Vol. 21 No. 9 2009 年5 月 Journal of System Simulation May, 2009 独轮车机器人的动力学建模与非线性控制 郭 磊，廖启征，魏世民，崔建伟 （北京邮电大学自动化学院，北京 100876 ） 摘 要：为了实现对于独轮车机器人非线性系统的姿态控制。以独轮车机器人车体的俯仰角度、 横滚角度和航向角度作为广义坐标，基于拉格朗日定理提出了一种独轮车机器人的非线性动力学 模型。并使用MIMO 仿射非线性系统描述了该动力学模型。基于MIMO 仿射非线性系统的精确线 性化理论设计了独轮车机器人的控制算法，实现了对于输入的解耦。基于该动力学模型和控制算 法搭建了仿真系统，仿真结果验证了动力学模型的正确性和反馈线性化控制算法的有效性。 关键词：独轮车机器人；动力学模型；多输入多输出仿射非线性系统，精确线性化 中图分类号：TP273 文献标识码：A 文章编号：1004-731X (2009) 09-2730-04 Dynamical Modeling of Unicycle Robot and Nonlinear Control GUO Lei, LIAO Qi-zheng , WEI Shi-min, CUI Jian-wei (School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China) Abstract: The nonlinear characteristics in the unicycle robot dynamic system make the robot control much more difficult. Aiming at this problem, the pitching angle, the rolling angle and the yawing angle were taken as system generalized coordinates. A kind of nonlinear dynamic model of the unicycle robot was proposed based on Lagrange method. A multi-input and multi-output affine nonlinear system was proposed to describe the dynamic model. And input-output exactitude linearization theory was applied to analyze the affine nonlinear system. Then a control algorithm was proposed to achieve the goal of decoupling and accurate linearization. Computer simulation verifies the validity of the dynamic model. The effect of the controller is testified by simulation experiments. Key words: unicycle robot; dynamic model; MIMO affine nonlinear system; accurate linearization