| 基于动力学模型的四轮全向机器人滑模轨迹跟踪控制 |
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| 引用本文： | 李运奇,杨宜民,王建彬.基于动力学模型的四轮全向机器人滑模轨迹跟踪控制[J].科技广场,2014(1):89-93. |
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| 作者姓名： | 李运奇 杨宜民 王建彬 |
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| 作者单位： | 广东工业大学自动化学院,广东 广州510090 |
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| 摘 要： | 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。
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| 关 键 词： | 四轮驱动 全向机器人 动力学模型 滑模 轨迹跟踪 |
Sliding Mode Trajectory Tracking Control Based on Dynamic Model for Four-Wheel Drive Omni-Directional Mobile Robots |
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| Li Yunqi,Yang Yimin,Wang Jianbin.Sliding Mode Trajectory Tracking Control Based on Dynamic Model for Four-Wheel Drive Omni-Directional Mobile Robots[J].Science Mosaic,2014(1):89-93. |
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| Authors: | Li Yunqi Yang Yimin Wang Jianbin |
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| Institution: | ( Automation Institute, Guangdong University of Technology, Guangdong Guangzhou 510090 ) |
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| Abstract: | 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. |
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| Keywords: | Four-Wheel Drive Omni-Directional Mobile Robot Dynamic Model Trajectory Tracking |
| 本文献已被 CNKI 维普 等数据库收录！ |
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