轮式移动机器人嵌入式自适应控制器设计与仿真-控制理论与应用.PDF

29 9 Vol. 29 No. 9 2012 9 Control Theory Applications Sep. 2012 :2012 , (, 200240) : , , (eMFAC). , Kalman(MFAC), . FreeMAT ARM7. : ; ; ; : TP273 : A Design and simulation of embedded model-free adaptive control system of wheeled mobile robots SONG Li-bo, LI Jin-song (Engineering Training Centre, Shanghai Jiao Tong University, Shanghai 200240, China) Abstract: On the basis of variational principle, we derive the compact form of the enhanced model-free adaptive control method (eMFAC) and modify the control criterion function by adding the first order output signal. In designing the feedforward Kalman MFAC controller for a differential driving wheeled mobile robot, the nonholonomic constraint and the transmission error from motors to wheels in the driving transmission system are fed forward to the system for controlling the orientation angle and the motion velocity of the mobile robot. The global stability of the proposed control method is verified. Simulations are performed with the open-source freeware FreeMAT V4.0. Practical experiments are carried out on the ARM7 system. Results validate the effectiveness of the proposed method. Key words: enhanced model-free adaptive method; wheeled mobile robot; Kalman method; variational principle 1 (Introduction) , , (multi-input multi-output, MIMO) . , . , , [1–2] [3–4] / [5–6] . , MFAC , , . . 2 (Modeling of ,