基于滑模变结构方法的溜冰机器人协调控制器设计(英文)

VSS-based coordinated control of Ice-skater Robot

中文关键词  溜冰机器人  状态空间  滑模变结构控制  协调控制

英文关键词  Ice-skater Robot  state space  variable structure control with sliding mode (VSS)  coordinated control

中文摘要

      根据轮滑原理设计了腿轮混合结构从动轮式移动机器人———溜冰机器人. 在简要介绍模型基准控制法、算法控制法和有限状态控制法的基础上, 研究了滚轮的法向和切向运动, 得出基于运动路径的、无奇异性的非完整运动学状态空间. 同时, 在考虑控制系统时间延迟的基础上, 建立了符合滑模可达性条件的机械腿、滚轮和机械腿与滚轮相互协调的切换函数. 实验证实了这种基于非完整运动学状态空间和滑模变结构方法的协调控制策略的可行性.

英文摘要

      A new type of leg-wheeled hybrid mobile robot, Ice-skater Robot, was developed based on the rolling and skating principle. Then, such coordinated control methods were disccussed as the model reference control method, the algorithm control method and the finite state control method briefly. And the motions in the normal direction and the tangent direction of the wheels were analyzed and the kinematic equation, the path-based nonholonomic kinematic state space used in the acceleration control were also obtained. At the same time, the switching functions satisfying the sliding mode reachable condition to realize the coordination of the wheels, the legs and between the wheels and the legs were designed. The experiment verifies the practicability of the coordinated control method based on the nonholonomic kinematic state space and the variable structure control with sliding mode method.