CAJ | 학술논문

双轮移动机器人是一种典型的具有非完整约束的欠驱动系统，针对其路径跟踪和姿态平衡的控制问题，文章提出了一种基于反演技术的运动学控制器和滑模动力学控制器相结合的控制算法，反演法设计运动学控制器用以解决跟踪速度和位置之间的控制关系。考虑到系统本身的不确定性和外界干扰，采用具有稳定性和鲁棒性特点的滑模控制器作为动力学控制器用以解决机器人的运动平衡和控制电压之间的控制问题。仿真结果表明该方法有效地实现了双轮移动机器人在保持平衡的同时稳定地进行轨迹跟踪。
쌍륜이동궤기인시일충전형적구유비완정약속적흠구동계통，침대기로경근종화자태평형적공제문제，문장제출료일충기우반연기술적운동학공제기화활모동역학공제기상결합적공제산법，반연법설계운동학공제기용이해결근종속도화위치지간적공제관계。고필도계통본신적불학정성화외계간우，채용구유은정성화로봉성특점적활모공제기작위동역학공제기용이해결궤기인적운동평형화공제전압지간적공제문제。방진결과표명해방법유효지실현료쌍륜이동궤기인재보지평형적동시은정지진행궤적근종。
Two-wheeled mobile robot is a typical nonholonomic underactuated system .Aiming at the path tracking and posture balance control problem of this kind of mobile robot ,a control algorithm is proposed w hich integrates the kinematic controller designed by backstepping and the sliding mode dy-namics controller . T he kinematic controller designed by backstepping is used to solve the control problem between velocity and position .Considering the uncertainties of the system and external dis-turbance ,the sliding mode controller that has the characteristics of stability and robustness is used as the dynamics controller to realize the robot’s speed and posture balance .T he simulation results show that the method effectively realizes the two-wheeled mobile robot trajectory tracking in a stable and balanced mode .