CAJ | 학술논문

四轮全向机器人是一个复杂的四维冗余系统，其轨迹跟踪控制性能极易受到模型不确定性及外界干扰的影响。针对这一问题，本文提出一种基于动力学模型的四轮全向机器人滑模轨迹跟踪控制方法。首先，通过输入变换将复杂的四维冗余机器人系统模型转化为三维模型，然后针对模型不确定性及外界扰动，采用滑模控制算法进行轨迹跟踪控制。仿真结果表明，该方法能够有效抑制外界干扰，同时降低模型不确定性的影响，机器人能够很好地跟踪期望轨迹，跟踪速度快，跟踪精度高。
사륜전향궤기인시일개복잡적사유용여계통，기궤적근종공제성능겁역수도모형불학정성급외계간우적영향。침대저일문제，본문제출일충기우동역학모형적사륜전향궤기인활모궤적근종공제방법。수선，통과수입변환장복잡적사유용여궤기인계통모형전화위삼유모형，연후침대모형불학정성급외계우동，채용활모공제산법진행궤적근종공제。방진결과표명，해방법능구유효억제외계간우，동시강저모형불학정성적영향，궤기인능구흔호지근종기망궤적，근종속도쾌，근종정도고。
The four-wheeled Omni Directional robot is a complicated redundancy control system, and its tra-jectory tracking control performance can be easily influenced by model uncertainty and external conditions. To solve this problem, this paper puts forward a sliding mode trajectory tracking control method based on dynamic model. First we convert the four-dimensional system model into a three-dimensional one by input transformation, and then we apply the sliding mode control method to trajectory tracking in response to the disturbance and the system model uncertainty. The simulation results show that this solution can effectively resist external disturbance and reduce the impact of model uncertainty, the robot can also rapidly and exactly track the expected trajectory.