机械制造与自动化
機械製造與自動化
궤계제조여자동화
Machine Building & Automation
2015年
5期
152-154,196
,共4页
杨敏%梅劲松%廖里程
楊敏%梅勁鬆%廖裏程
양민%매경송%료리정
轮式移动机器人%反演%滑模控制
輪式移動機器人%反縯%滑模控製
륜식이동궤기인%반연%활모공제
wheeled mobile robot%backstepping%sliding mode control
针对轮式移动机器人的轨迹跟踪问题,提出了一种反演滑模控制方法。采用PI型滑模面设计等效控制律,利用变速函数代替了符号函数得到切换控制律,并利用Lypunov定理证明了系统的稳定性。仿真结果表明了该方法的有效性和正确性,控制中出现的抖振现象得到改善,在外界干扰影响下,也具有良好的控制品质。
針對輪式移動機器人的軌跡跟蹤問題,提齣瞭一種反縯滑模控製方法。採用PI型滑模麵設計等效控製律,利用變速函數代替瞭符號函數得到切換控製律,併利用Lypunov定理證明瞭繫統的穩定性。倣真結果錶明瞭該方法的有效性和正確性,控製中齣現的抖振現象得到改善,在外界榦擾影響下,也具有良好的控製品質。
침대륜식이동궤기인적궤적근종문제,제출료일충반연활모공제방법。채용PI형활모면설계등효공제률,이용변속함수대체료부호함수득도절환공제률,병이용Lypunov정리증명료계통적은정성。방진결과표명료해방법적유효성화정학성,공제중출현적두진현상득도개선,재외계간우영향하,야구유량호적공제품질。
For tracking the trajectory of wheeled mobile robots, a backstepping-based sliding-mode control scheme is presented. An equivalent control law is obtained by using Pl-type sliding surface and a switching control law is gotten by replacing sign function by variable rate function. The stability of the system is proved by Lyapunov theory. Simulation results show the effectiveness and cor-rectness of the proposed method and the improvement of the chattering phenomenon in the system. Even though external disturb-ances exist, the proposed approach is of a satisfactory control quality.