移动机器人滑动参数定界及鲁棒镇定控制

Slipping parameters bounding and robust stabilization control for mobile robots

中文关键词  移动机器人  参数不确定性  集员定界  backstepping  镇定

英文关键词  mobile robots  parametric uncertainties  set-membership bounding  backstepping  stabilization

中文摘要

      本文针对带运动学参数不确定性的野外轮式移动机器人模型的在线辨识、定界和点镇定控制问题展开了研究. 考虑了移动机器人二维平面运动过程中所存在的滑动效应和自身几何参数未知等不确定性, 并将其建模为运动学模型中所包含的未知时变参数. 通过引入基于有界误差假设的非线性集员滤波方法, 对移动机器人运动学模型中存在的不确定性参数进行了辨识和定界. 在此基础上结合backstepping控制思想和Lyapunov分析方法解决了移动机器人的鲁棒镇定问题, 在存在滑动参数干扰的情况下实现了移动机器人的全局指数收敛点镇定控制, 提高了整体控制系统的稳定性和鲁棒性. 仿真结果证明了本方法的有效性和鲁棒性.

英文摘要

      The online model identification, bounding and point stabilization control problems for wheeled mobile robots in outdoor environments with kinematic parameter uncertainties are studied. The uncertainties from slipping efficiency and unknown geometric parameters of the mobile robot in two-dimensional planar motion are considered and modeled as unknown time-varying parameters in the kinematic model. The bounded-error based nonlinear set-membership filter is introduced to identify and bound uncertain parameters in the kinematic model of the mobile robot. On the basis of this, the backstepping technology integrated with Lyapunov analysis approach is used to solve the robust stabilization problem of the mobile robot. Globally exponential convergent point stabilization control of the mobile robot is achieved under the existing of slipping parameter disturbances, while the stability and robustness of the entire control system are both enhanced. Simulation results are given to demonstrate the effectiveness and robustness of our proposed method.